From e4b8e5457444e6b2139eeca68aa56a3fb9ea94e5 Mon Sep 17 00:00:00 2001
From: userName <userEmail>
Date: Sun, 3 Mar 2024 15:52:51 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=8F=E9=99=80=E8=9E=BA=E5=90=8E=E7=9A=84?=
 =?UTF-8?q?=E5=8A=9F=E7=8E=87=E6=8E=A7=E5=88=B6?=
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---
 application/chassis/chassis.c | 12 ++++++++----
 application/shoot/shoot.c     |  4 ++--
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index fd035b3..887f748 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -66,9 +66,9 @@ void ChassisInit()
         .can_init_config.can_handle = &hcan1,
         .controller_param_init_config = {
             .speed_PID = {
-                .Kp = 17, // 4.5
-                .Ki = 3,  // 0
-                .Kd = 0.02f,  // 0
+                .Kp = 17, // 17
+                .Ki = 3,  // 3
+                .Kd = 0.02f,  // 0.02
                 .IntegralLimit = 3000,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .MaxOut = 12000,
@@ -87,7 +87,7 @@ void ChassisInit()
             .speed_feedback_source = MOTOR_FEED,
             .outer_loop_type = SPEED_LOOP,
             .close_loop_type = SPEED_LOOP | CURRENT_LOOP,
-
+        //功率限制必须要用电流环
             .power_limit_flag = NO_POWER_LIMIT,
         },
         .motor_type = M3508,
@@ -255,6 +255,10 @@ void ChassisTask()
         break;
     case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
         chassis_cmd_recv.wz = 2.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
+        if(chassis_cmd_recv.wz > 2000)
+            chassis_cmd_recv.wz = 2000;
+        if(chassis_cmd_recv.wz < -2000)
+            chassis_cmd_recv.wz = -2000;
         break;
     case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
         chassis_cmd_recv.wz = 1600;
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 72e199d..cb85170 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -64,7 +64,7 @@ void ShootInit()
     friction_r = DJIMotorInit(&friction_config);
 
     friction_config.can_init_config.tx_id = 6; // 上摩擦轮,改txid和方向就行
-    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
+    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
     friction_z = DJIMotorInit(&friction_config);
 
 
@@ -83,7 +83,7 @@ void ShootInit()
                 .MaxOut = 15000,
             },
             .speed_PID = {
-                .Kp = 3, // 10
+                .Kp = 5, // 10
                 .Ki = 0, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,