HFUT_Firmament_EC
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basic_framework
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修改机器参数

This commit is contained in:
sph 2024-02-22 20:37:25 +08:00
parent 09f7265fd1
commit aecb82fd44
4 changed files with 7 additions and 7 deletions
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2
.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" 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="D:\Code\stm32\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="$PROJECT_DIR$/daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
<debugger kind="GDB" isBundled="true" />
</openocd>
<method v="2">

6
application/robot_def.h
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@ -36,11 +36,11 @@
#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
#define NUM_PER_CIRCLE 8 // 拨盘一圈的装载量
// 机器人底盘修改的参数,单位为m(米)
#define WHEEL_BASE 0.3f // 纵向轴距(前进后退方向)
#define TRACK_WIDTH 0.3f // 横向轮距(左右平移方向)
#define WHEEL_BASE 0.1f // 纵向轴距(前进后退方向)
#define TRACK_WIDTH 0.1f // 横向轮距(左右平移方向)
#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
#define RADIUS_WHEEL 0.06f // 轮子半径
#define RADIUS_WHEEL 0.08f // 轮子半径
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
#define GYRO2GIMBAL_DIR_YAW 1 // 陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反

4
application/shoot/shoot.c
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@ -217,8 +217,8 @@ void ShootTask()
// DJIMotorSetRef(friction_r, 0);
// break;
//default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
DJIMotorSetRef(friction_l, 40000);
DJIMotorSetRef(friction_r, 40000);
// break;
// }
}

2
modules/motor/servo_motor/servo_motor.h
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@ -14,7 +14,7 @@
#include "main.h"
#include "tim.h"
#include <stdint-gcc.h>
#include <stdint.h>
#define SERVO_MOTOR_CNT 7