云台pitch pid重调

Src/main.c

@@ -121,7 +121,6 @@ int main(void)
     MX_DAC_Init();
     /* USER CODE BEGIN 2 */
 
-    HAL_Delay(1500); //delay 一段时间 等待关节电机驱动初始化
     RobotInit(); // 唯一的初始化函数
     LOGINFO("[main] SystemInit() and RobotInit() done");
     /* USER CODE END 2 */

application/cmd/robot_cmd.c

@@ -169,7 +169,7 @@ static void RemoteControlSet() {
         // ...
         gimbal_cmd_send.yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
         gimbal_cmd_send.big_yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
-        gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
+        gimbal_cmd_send.pitch -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l1;
 
         if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
         if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;

application/gimbal/gimbal.c

@@ -86,18 +86,18 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 1.0f,//4.0f,//2.0f
+                .Kp = -1.8f,//4.0f,//2.0f
-                .Ki = 0.0f,//1,//0
+                .Ki = -1.5f,//1,//0
                 .Kd = 0.0f,//0.0f
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,
                 .MaxOut = 500,
             },
             .speed_PID = {
-                .Kp = 2500,//6000,//800
+                .Kp = -4000,//-4500,//6000,//800
-                .Ki = 500,//500,//100
+                .Ki = -10000, //-600,//500,//100
                 .Kd = 0,//0
-                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
+                .Improve = PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 10000,
                 .MaxOut = 30000,
             },
@@ -257,7 +257,8 @@ void GimbalTask()
     //yaw轴角速度
 
     //重力补偿力矩
-    current_feedforward = (7000)*arm_cos_f32(theta);
+    current_feedforward = (1500)*arm_cos_f32(theta);
+    //current_feedforward = 0;
     float vofa_send_data[6];
     vofa_send_data[0] = pitch_motor->measure.speed_aps;
     vofa_send_data[1] = gimba_IMU_data->Pitch;

application/robot_def.h

@@ -29,8 +29,8 @@
 #define YAW_CHASSIS_ALIGN_ECD 8012  // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
 #define PITCH_HORIZON_ECD 3412      // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
-#define PITCH_MAX_ANGLE 39           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
+#define PITCH_MAX_ANGLE 34           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
-#define PITCH_MIN_ANGLE -18           // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
+#define PITCH_MIN_ANGLE -15           // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
 
 #define YAW_MAX_ENCODE_ANGLE -10.0f //小yaw编码器限位
 #define YAW_MIN_ENCODE_ANGLE -90.0f

modules/master_machine/master_process.c

@@ -147,8 +147,8 @@ static void VisionOfflineCallback(void *id)
 #ifdef VISION_USE_UART
     USARTServiceInit(vision_usart_instance);
 #endif // !VISION_USE_UART
-    USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
+    //USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
-    vis_recv_buff = USBInit(conf);
+    //vis_recv_buff = USBInit(conf);
     LOGWARNING("[vision] vision offline, restart communication.");
 }
 

modules/motor/DMmotor/DM4310.c

@@ -29,6 +29,7 @@ void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
 {
     memset(motor->motor_can_instance->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
     motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
+    LOGINFO("DMMotorSetMode");
     CANTransmit(motor->motor_can_instance, 1);
 }
 

sentry_left.jdebug

@@ -33,6 +33,7 @@ void OnProjectLoad (void) {
   //
   // User settings
   //
+  Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ);
   File.Open ("$(ProjectDir)/cmake-build-debug/sentry_left.elf");
   Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
 }

sentry_left.jdebug.user

@@ -1,43 +1,30 @@
 
 
 
-Breakpoint=D:/CLion/Project/sentry_left/modules/motor/DJImotor/dji_motor.c:316, State=BP_STATE_DISABLED
+OpenDocument="main.c", FilePath="C:/Users/sph/Desktop/sentry_left/Src/main.c", Line=59
-Breakpoint=D:/CLion/Project/sentry_left/modules/motor/DJImotor/dji_motor.c:328, State=BP_STATE_DISABLED
+OpenDocument="robot_cmd.c", FilePath="C:/Users/sph/Desktop/sentry_left/application/cmd/robot_cmd.c", Line=69
-Breakpoint=D:/CLion/Project/sentry_left/modules/motor/DJImotor/dji_motor.c:362:9, State=BP_STATE_DISABLED
+OpenDocument="dji_motor.c", FilePath="C:/Users/sph/Desktop/sentry_left/modules/motor/DJImotor/dji_motor.c", Line=68
-OpenDocument="main.c", FilePath="D:/CLion/Project/sentry_left/Src/main.c", Line=60
+OpenDocument="bsp_dwt.c", FilePath="C:/Users/sph/Desktop/sentry_left/bsp/dwt/bsp_dwt.c", Line=30
+OpenDocument="gimbal.c", FilePath="C:/Users/sph/Desktop/sentry_left/application/gimbal/gimbal.c", Line=87
+OpenDocument="robot_def.h", FilePath="C:/Users/sph/Desktop/sentry_left/application/robot_def.h", Line=151
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=2, y=0, w=341, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20009694
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=555, h=334, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=0, w=567, h=622, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=555, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=544, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Memory 1", DockArea=BOTTOM, x=1, y=0, w=485, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20008C00
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=855, h=622, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="354;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="676;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="690;0"
+OpenWindow="Local Data", DockArea=LEFT, x=0, y=2, w=555, h=401, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=1033, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Data Sampling", DockArea=RIGHT, x=0, y=1, w=591, h=173, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=591, h=184, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="577;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="593;0"
+OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=477, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
+TableHeader="Vector Catches", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;100;107;107]
+TableHeader="Break & Tracepoints", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;102;253]
+TableHeader="Local Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[100;100;102;100;100;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[275;134;100;100]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
-TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
-WatchedExpression="INS", DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;704]
-WatchedExpression="pitch_motor", RefreshRate=5, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
-WatchedExpression="gimbal_cmd_recv", RefreshRate=5, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
+TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;878]
-WatchedExpression="rc_data", RefreshRate=5, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="yaw_motor", RefreshRate=5, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="motor_can_ins", DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="big_yaw_motor", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="big_yaw_angle", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="friction_l", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="gimbal_feedback_data", RefreshRate=1, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
 WatchedExpression="chassis_cmd_recv", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="big_yaw_relative_angle", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
+WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="pid_ref", DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="send_data", RefreshRate=5, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
-WatchedExpression="vision_recv_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="chassis_fetch_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="sentry_state", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="referee_recv_info", Window=Watched Data 1
-WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="gimbal_cmd_send", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="recover_start_T", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="vision_recv_data", RefreshRate=2, Window=Watched Data 1