HFUT_Firmament_EC
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basic_framework
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小陀螺后的功率控制

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userName 2024-03-03 15:52:51 +08:00
parent 03081a7075
commit e4b8e54574
2 changed files with 10 additions and 6 deletions
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12
application/chassis/chassis.c
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@ -66,9 +66,9 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1, .can_init_config.can_handle = &hcan1,
.controller_param_init_config = { .controller_param_init_config = {
.speed_PID = { .speed_PID = {
.Kp = 17, // 4.5 .Kp = 17, // 17
.Ki = 3, // 0 .Ki = 3, // 3
.Kd = 0.02f, // 0 .Kd = 0.02f, // 0.02
.IntegralLimit = 3000, .IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 12000, .MaxOut = 12000,
@ -87,7 +87,7 @@ void ChassisInit()
.speed_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, .outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_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, .power_limit_flag = NO_POWER_LIMIT,
}, },
.motor_type = M3508, .motor_type = M3508,
@ -255,6 +255,10 @@ void ChassisTask()
break; 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 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); 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; 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 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; chassis_cmd_recv.wz = 1600;

4
application/shoot/shoot.c
View File

@ -64,7 +64,7 @@ void ShootInit()
friction_r = DJIMotorInit(&friction_config); 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.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); friction_z = DJIMotorInit(&friction_config);
@ -83,7 +83,7 @@ void ShootInit()
.MaxOut = 15000, .MaxOut = 15000,
}, },
.speed_PID = { .speed_PID = {
.Kp = 3, // 10 .Kp = 5, // 10
.Ki = 0, // 1 .Ki = 0, // 1
.Kd = 0, .Kd = 0,
.Improve = PID_Integral_Limit, .Improve = PID_Integral_Limit,