From d6cc3baae69ae66523e2f6096b8f8afe70cd2ce3 Mon Sep 17 00:00:00 2001 From: zyx <1323655521@qq.com> Date: Thu, 16 May 2024 01:44:08 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/cmd/robot_cmd.c | 2 +- application/gimbal/gimbal.c | 2 +- application/robot_def.h | 6 +- .../application/cmd/robot_cmd.c.obj | Bin 39732 -> 39388 bytes .../application/gimbal/gimbal.c.obj | Bin 19004 -> 19004 bytes cmake-build-debug/basic_framework.bin | Bin 137900 -> 137220 bytes cmake-build-debug/basic_framework.elf | Bin 1403776 -> 1395756 bytes cmake-build-debug/basic_framework.hex | 10952 ++++++++-------- cmake-build-debug/basic_framework.map | 2579 ++-- xs.jdebug.user | 29 +- 10 files changed, 6762 insertions(+), 6808 deletions(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index c6578b8..0cddaaa 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -67,7 +67,7 @@ static uint8_t loader_flag = 0; //拨弹模式选择标志位 void RobotCMDInit() { rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 vision_recv_data = VisionInit(); // 视觉通信串口 - vt_data = VTRefereeInit(&huart1); // 图传通信串口 +// vt_data = VTRefereeInit(&huart1); // 图传通信串口 referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 0587b63..b1ec299 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -88,7 +88,7 @@ void GimbalInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 1.0f, + .Kp = 1.2f, .Ki = 0.0f, .Kd = 0.02f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, diff --git a/application/robot_def.h b/application/robot_def.h index aceea89..139faeb 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,11 +26,11 @@ /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD 1443 // 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_CHASSIS_ALIGN_ECD 6217 // 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 4422 // 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 25 // 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 -24 // 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_MAX_ANGLE 44 // 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_MAX_RELATIVE_ANGLE 123 // 云台相对底盘最大角度 #define PITCH_MIN_RELATIVE_ANGLE 80 // 云台相对底盘最小角度 diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj index fdab97257f1940843a73e2ec1291a8bee600d82c..2a8b495492aa5e0706605e10e1401f9fd5f71972 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d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-readr.o) + .debug_frame 0x0000a3b8 0x20 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_arm_unorddf2.o) diff --git a/xs.jdebug.user b/xs.jdebug.user index 98f8724..73c1f10 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,27 +1,28 @@ -OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=58 +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=120 +OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 -OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 +OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87 OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191 OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=479, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=621, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=531, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1456, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1197, h=1057, 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="0;841", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=269, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=587, h=498, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=435, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=587, h=538, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=909, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1353, h=1037, 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="0;865", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1314;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1330;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=190, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100] -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;282] +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] 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=[238;149;104;218] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;100] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26] WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1 @@ -39,4 +40,6 @@ WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file