From aecb82fd446ab5a669ef3dbae7bf1198b903e1e0 Mon Sep 17 00:00:00 2001
From: sph <1527550984@qq.com>
Date: Thu, 22 Feb 2024 20:37:25 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=9C=BA=E5=99=A8=E5=8F=82?=
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---
 .idea/runConfigurations/OCD_basic_framework.xml | 2 +-
 application/robot_def.h                         | 6 +++---
 application/shoot/shoot.c                       | 4 ++--
 modules/motor/servo_motor/servo_motor.h         | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.idea/runConfigurations/OCD_basic_framework.xml b/.idea/runConfigurations/OCD_basic_framework.xml
index 97de8a2..0d99295 100644
--- a/.idea/runConfigurations/OCD_basic_framework.xml
+++ b/.idea/runConfigurations/OCD_basic_framework.xml
@@ -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">
diff --git a/application/robot_def.h b/application/robot_def.h
index 44cf236..407929f 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -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
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index b75959d..9944f0b 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -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;
 //        }
     }
diff --git a/modules/motor/servo_motor/servo_motor.h b/modules/motor/servo_motor/servo_motor.h
index 319161d..81a4237 100644
--- a/modules/motor/servo_motor/servo_motor.h
+++ b/modules/motor/servo_motor/servo_motor.h
@@ -14,7 +14,7 @@
 
 #include "main.h"
 #include "tim.h"
-#include <stdint-gcc.h>
+#include <stdint.h>
 
 #define SERVO_MOTOR_CNT 7