From 4c8a3945c4b9de45afbe988476f43c2bf0192108 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 31 May 2025 15:10:24 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=B8=80=E7=82=B9bug?= =?UTF-8?q?=EF=BC=8C=E7=BC=96=E7=A0=81=E5=99=A8=E9=87=8D=E6=96=B0=E6=A0=A1?= =?UTF-8?q?=E5=87=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2/R2.axf | Bin 2847980 -> 2847968 bytes User/Module/Chassis.c | 2 +- User/Module/config.c | 4 ++-- User/Module/up.c | 14 +++++++------- User/device/can_use.c | 2 +- 5 files changed, 11 insertions(+), 11 deletions(-) diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 653d2007c5ccb44dd44e763c733270097add8760..437d937ab611d808e7895612c058f08863d12558 100644 GIT binary patch delta 53363 zcmZr(34Be*_rLRU=f0Z|60%8xmq>_;Jrq@fh}eVBh>(QXx7e3jf*=UO!-+Ju))Gqz z30LiVW38=isRhs#+~9h;6lYV|86?rc0`0LrJZKrzW12h>zoC>oO_W`jpLdFZa6YVVAuwhoxed z7p~!NOP;rmprezHzC_hoL@pUpj3a&BGq4r9Hnu1T 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= { - .m2006_init_angle =-90, + .m2006_init_angle =-100, .m2006_trigger_angle =0, .go1_init_position = -50, .go1_Receive_ball = -5, //偏下 .go1_release_threshold =-210, .m2006_Screw_init=0, - .Pitch_angle =56, + .Pitch_angle =58, }, diff --git a/User/Module/up.c b/User/Module/up.c index df7dcd1..50969eb 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -317,7 +317,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) { if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ - u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE; + u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN; } //光电状态更新 Dribble_Process(u,out); @@ -444,8 +444,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) case DRIBBLE_PROCESS_DOWN: u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed; + u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; + u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, u->motorfeedback .DJmotor_feedback [1].rpm, @@ -461,8 +461,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) if(common_speed_flag){ if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测,反转 u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; } @@ -475,8 +475,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) common_speed_flag =0; if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&& - (u->motorfeedback .DJmotor_feedback [1].rpm>2000)&& - (u->motorfeedback .DJmotor_feedback [2].rpm>2000) + (u->motorfeedback .DJmotor_feedback [1].rpm>-2000)&& + (u->motorfeedback .DJmotor_feedback [2].rpm>-2000) ){ if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ diff --git a/User/device/can_use.c b/User/device/can_use.c index b256dba..90e9dd2 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -93,7 +93,7 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, { case 0x01: feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24; - feedback->angle=(fp32)(4089-(fp32)feedback->ecd)/(4089-3861)*(70.0f-50.0f)+50.0f; + feedback->angle=(fp32)(2048-(fp32)feedback->ecd)/(2048-1797)*(70.0f-48.0f)+48.0f; break; }