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energy changed

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sun
2019-08-05 22:45:37 +08:00
parent 92493a4447
commit 74fa004567
4 changed files with 17 additions and 13 deletions
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18
energy/src/energy/send/send.cpp
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@@ -18,19 +18,21 @@ void Energy::sendEnergy() {
if (camera_cnt == 1) {
sum_yaw += yaw_rotation;
sum_pitch += pitch_rotation;
float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
MINMAX(yaw_I_component, -2, 2);
MINMAX(pitch_I_component, -2, 2);
MINMAX(sum_yaw, -100, 100);
MINMAX(sum_yaw, -100, 100);
// float yaw_I_component = BIG_YAW_AIM_KI * sum_yaw;
// float pitch_I_component = BIG_PITCH_AIM_KI * sum_pitch;
// MINMAX(yaw_I_component, -3, 3);
// MINMAX(pitch_I_component, -3, 3);
double tmp_yaw = yaw_rotation;
double tmp_pitch = pitch_rotation;
yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
// MINMAX(yaw_rotation, -6, 6);
// MINMAX(pitch_rotation, -6, 6);
} else if (is_chassis) {
// sum_yaw += yaw_rotation - mcu_data.curr_yaw;
// sum_pitch += pitch_rotation - mcu_data.curr_pitch;
@@ -46,8 +48,8 @@ void Energy::sendEnergy() {
double tmp_pitch = pitch_rotation;
yaw_rotation = SMALL_YAW_AIM_KP * yaw_rotation + SMALL_YAW_AIM_KD * (yaw_rotation - last_yaw);
pitch_rotation = SMALL_PITCH_AIM_KP * pitch_rotation + SMALL_PITCH_AIM_KD * (pitch_rotation - last_pitch);
MINMAX(yaw_rotation, -6, 6);
MINMAX(pitch_rotation, -6, 6);
// MINMAX(yaw_rotation, -6, 6);
// MINMAX(pitch_rotation, -6, 6);
last_yaw = tmp_yaw;
last_pitch = tmp_pitch;
}