HFUT_Firmament_EC
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basic_framework
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完成英雄YAW和PITCH轴的简单调试，PID参数需要重新调试

This commit is contained in:
周楚杰 2023-10-19 20:33:23 +08:00
parent eb0d9d8187
commit 0154d1164a
2 changed files with 6 additions and 5 deletions
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4
.idea/runConfigurations/OCD_basic_framework.xml
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@ -1,6 +1,6 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="OCD basic_framework" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="basic_framework" TARGET_NAME="basic_framework.elf" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="basic_framework" RUN_TARGET_NAME="basic_framework.elf">
<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="D:\CLion\Project\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
<configuration default="false" name="OCD basic_framework" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="basic_framework" TARGET_NAME="basic_framework.elf" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="basic_framework" RUN_TARGET_NAME="basic_framework.elf">
<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="C:\Users\24871\Desktop\RM\RM2024\basic\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
<debugger kind="GDB" isBundled="true" />
</openocd>
<method v="2">

7
application/gimbal/gimbal.c
View File

@ -21,7 +21,7 @@ void GimbalInit()
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.can_handle = &hcan2,
.tx_id = 1,
},
.controller_param_init_config = {
@ -52,7 +52,7 @@ void GimbalInit()
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
// PITCH
@ -87,7 +87,8 @@ void GimbalInit()
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
},
.motor_type = GM6020,
};