LYL/R2_NEW
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base: LYL:0d7a931faf09957cb4bbcdd5fcfa042dfc76d3bf
Branches Tags
LYL:main
LYL:ballgame
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis
..
compare: LYL:0c35d85d443dbb9749401ca1469391812c82bbe9
Branches Tags
LYL:ballgame
LYL:main
LYL:maingame
LYL:mid360_plan2
LYL:6.23
LYL:Cooperation
LYL:chassis

2 Commits
0d7a931faf ... 0c35d85d44

Author SHA1 Message Date
ZHAISHUI04
0c35d85d44 Merge branch 'chassis' of ssh://gitea.qutrobot.top:222/LYL/R2_NEW into chassis 2025-05-31 15:30:16 +08:00
ZHAISHUI04
64cdeb7ae1 把上层也改了，避免新机构影响 2025-05-31 15:30:03 +08:00
3 changed files with 11 additions and 10 deletions
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4
User/Module/config.c
View File

@ -110,13 +110,13 @@ static const ConfigParam_t param ={
},
/*投球*/
.PitchConfig_Config = {
.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,
},

14
User/Module/up.c
View File

@ -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){

3
User/device/can_use.c
View File

@ -93,7 +93,8 @@ 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)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f;
feedback->angle=(fp32)(2048-(fp32)feedback->ecd)/(2048-1797)*(70.0f-48.0f)+48.0f;
break;
}
}