Yodel/25_R1_chassis
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Yodel 2025-05-28 12:54:35 +08:00
parent 5c4d0e7747
commit 3f167b1b24
49 changed files with 4508 additions and 4554 deletions
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284
MDK-ARM/AUTO_CHASSIS.uvguix.Yodel
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9
MDK-ARM/AUTO_CHASSIS.uvoptx
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@ -178,15 +178,10 @@
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>finish_flag,0x0A</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>param_chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>6</count>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x0A</ItemText>
</Ww>
@ -709,7 +704,7 @@
<Group>
<GroupName>Middlewares/FreeRTOS</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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7
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.build_log.htm
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@ -21,7 +21,7 @@ Target DLL: CMSIS_AGDI.dll V1.32.13.0
Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
D:\R\main\steering wheel chassis\chassis_12\chassis\MDK-ARM\AUTO_CHASSIS.uvprojx
D:\R\main\steering wheel chassis\25_R1_chassis\chassis\MDK-ARM\AUTO_CHASSIS.uvprojx
Project File Date: 05/05/2025
<h2>Output:</h2>
@ -29,9 +29,6 @@ Project File Date: 05/05/2025
Build target 'AUTO_CHASSIS'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'ELE_CHASSIS\gpio.o' to 'ELE_CHASSIS\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'ELE_CHASSIS\spi.o' to 'ELE_CHASSIS\spi_1.o'.
compiling Chassis.c...
linking...
Program Size: Code=85012 RO-data=2152 RW-data=1268 ZI-data=33772
"ELE_CHASSIS\AUTO_CHASSIS.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -56,7 +53,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE:5.4.0
Include file: CMSIS\Core\Include\tz_context.h
Build Time Elapsed: 00:00:04
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.htm
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MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.map
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40
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS_AUTO_CHASSIS.dep
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@ -165,7 +165,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h)(0x
I (../Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1540,8 +1540,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
F (..\User\Module\Chassis.c)(0x6832EF35)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x683063C2)
F (..\User\Module\Chassis.c)(0x68367157)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis.o --omf_browse ele_chassis\chassis.crf --depend ele_chassis\chassis.d)
I (..\User\Module\Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -1598,9 +1598,9 @@ I (../User/device/Action.h)(0x67CAEC48)
I (../User/bsp/bsp_usart.h)(0x6817565B)
I (../Core/Inc/usart.h)(0x664876DC)
I (../User/Algorithm/filter.h)(0x663B6620)
F (..\User\Module\config.c)(0x6832B94B)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
F (..\User\Module\config.c)(0x683666DD)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\config.o --omf_browse ele_chassis\config.crf --depend ele_chassis\config.d)
I (..\User\Module\config.h)(0x663B6621)
I (..\User\Module\Chassis.h)(0x683063C2)
I (..\User\Module\Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2135,7 +2135,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
@ -2168,7 +2168,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2226,7 +2226,7 @@ I (../User/device/navi.h)(0x68133130)
I (../User/device/map.h)(0x682338DB)
I (../User/bsp/bsp_delay.h)(0x663B6621)
F (..\User\task\chassis_task.c)(0x680A233D)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\chassis_task.o --omf_browse ele_chassis\chassis_task.crf --depend ele_chassis\chassis_task.d)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2320,7 +2320,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2440,7 +2440,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2475,7 +2475,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2550,7 +2550,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2629,7 +2629,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2748,7 +2748,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@ -2781,7 +2781,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2856,7 +2856,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
@ -2979,7 +2979,7 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/include/queue.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x64D895DA)
I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x64D895DA)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/device/bmi088.h)(0x663B6621)
I (../User/Algorithm/ahrs.h)(0x663B6620)
@ -3273,7 +3273,7 @@ I (../Core/Inc/spi.h)(0x664876DC)
I (../User/bsp\pwm.h)(0x663B6621)
I (../User/Algorithm/pid.h)(0x6832B92D)
I (../User/Module/config.h)(0x663B6621)
I (../User/Module/Chassis.h)(0x683063C2)
I (../User/Module/Chassis.h)(0x68366454)
I (../User/device/can_use.h)(0x6811C5CD)
I (../User/bsp/bsp_can.h)(0x663B6621)
I (../Core/Inc/can.h)(0x664876DC)
@ -3536,7 +3536,7 @@ I (../Core/Inc/usart.h)(0x664876DC)
I (..\User\device\cmd.h)(0x6819FD43)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (D:\keil mdk\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
F (..\User\device\map.c)(0x6832EEE6)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
F (..\User\device\map.c)(0x683689F7)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\map.o --omf_browse ele_chassis\map.crf --depend ele_chassis\map.d)
I (..\User\device\map.h)(0x682338DB)
I (../User/Algorithm/struct_typedef.h)(0x663B6621)
I (..\User\device\Action.h)(0x67CAEC48)
@ -3583,7 +3583,7 @@ I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h)(0x64D895F2)
I (../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h)(0x64D895F2)
I (..\User\device\cmd.h)(0x6819FD43)
F (..\User\device\navi.c)(0x68312229)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
F (..\User\device\navi.c)(0x68366424)(--c99 -c --cpu Cortex-M4.fp.sp -g -O0 --apcs=interwork --split_sections -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I ../User/bsp -I ../User/device -I ../User/task -I ../User/Algorithm -I ../User/Module -I ../MDK-ARM -I ../USB_DEVICE/App -I ../USB_DEVICE/Target -I ../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I ../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I.\RTE\_AUTO_CHASSIS -I"D:\keil mdk\Keil5 MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include" -I"D:\keil mdk\Keil5 MDK\Keil\STM32F4xx_DFP\2.17.1\Drivers\CMSIS\Device\ST\STM32F4xx\Include" -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o ele_chassis\navi.o --omf_browse ele_chassis\navi.crf --depend ele_chassis\navi.d)
I (..\User\device\navi.h)(0x68133130)
I (..\User\device\Action.h)(0x67CAEC48)
I (../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h)(0x64D895DA)

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141
User/Module/Chassis.c
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@ -75,42 +75,68 @@ void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos) {
break;
case NAVI: //导航模式下操控为世界坐标系，能实现舵轮小陀螺前进
c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
float cos_yaw = cosf(c->chassis_yaw);
float sin_yaw = sinf(c->chassis_yaw);
// 将速度从世界坐标系转换到底盘坐标系
float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
// c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
// float cos_yaw = cosf(c->chassis_yaw);
// float sin_yaw = sinf(c->chassis_yaw);
//
// // 将速度从世界坐标系转换到底盘坐标系
// float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
// float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
//
// //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
// c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
// (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
// (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
// (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//
// //解算得到6020角度（-180°——+180°）
// c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
// (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
//相机纠正时就用正常解算
c->hopemotorout.rotor5065_jiesuan_1[0]=sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[1]=-sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
(Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[2]=sqrt(
(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
(Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
(Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
(Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
break;
c->hopemotorout.rotor5065_jiesuan_1[3]=-sqrt(
(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
//解算得到6020角度（-180°——+180°）
c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
break;
}
}
//角度归化到0°——360°
@ -177,11 +203,13 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
c->param = param; /*初始化参数 */
//舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向左面
MotorOffset_t motor_offset = { {209.281338, 329.226851, 328.404256, 208.594717} };
MotorOffset_t motor_offset = { {209.281338, 329.226851, 328.404256, 208.594717} };
c->motoroffset = motor_offset; // 将 motor_offset 的值赋给 c->motoroffset
PID_init(&(c->pid.chassis_6020OmegaPid), PID_POSITION,&(c->param->C6020Omega_param));
PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param) );
PID_init(&(c->pid.chassis_6020anglePid), PID_POSITION,&(c->param->C6020Angle_param));
PID_init(&(c->pid.chassis_CameraanglePID),PID_POSITION,&(c->param->CameraAngle_param));
PID_init(&(c->pid.chassis_CameraspeedPID),PID_POSITION,&(c->param->CameraSpeed_param));
LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波
@ -195,23 +223,44 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
Chassis_SetCtrl(c,ctrl);
fp32 chassis6020_detangle[4];
//对相机发送的像素点偏移量进行双环pid
fp32 camera_detangle;
camera_detangle = -PID_calc(&(c->pid.chassis_CameraanglePID),ctrl->camera_yaw,0);
c->chassis_yaw_pid = PID_calc(&(c->pid.chassis_CameraspeedPID),c->pos088.bmi088.gyro.z,camera_detangle);
switch (c->mode){
case RC:
c->move_vec.Vx = ctrl->Vx*95000;
c->move_vec.Vy = ctrl->Vy*95000;
c->move_vec.Vw = ctrl->Vw*95000;
break;
case STOP:
c->move_vec.Vx =0;
c->move_vec.Vy =0;
c->move_vec.Vw =0;
break;
case NAVI:
c->move_vec.Vx =ctrl->C_navi.vx ;
c->move_vec.Vy =ctrl->C_navi.vy ;
c->move_vec.Vw =ctrl->C_navi.wz ;
case STOP:
c->move_vec.Vx =0;
c->move_vec.Vy =0;
c->move_vec.Vw =0;
break;
case NAVI:
c->move_vec.Vx =ctrl->C_navi.vx ;
c->move_vec.Vy =ctrl->C_navi.vy ;
c->move_vec.Vw =ctrl->C_navi.wz ;
break;
// //像素点偏移量
// if(ctrl->camera_yaw != 0){
//// if(c->chassis_yaw_pid<500 && c->chassis_yaw_pid>-500){
//// c->chassis_yaw_pid = 0;
//// }
//// if(c->chassis_yaw_pid>500){
//// c->chassis_yaw_pid = map_fp32(c->chassis_yaw_pid,0.0,7000.0,4000.0,7000.0);
//// }
//// else if(c->chassis_yaw_pid<-500){
//// c->chassis_yaw_pid = map_fp32(c->chassis_yaw_pid,-7000.0,0.0,-7000.0,-4000.0);
//// }
//
// c->move_vec.Vw = c->chassis_yaw_pid;
// }
break;
}
//进行滤波
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
@ -236,8 +285,8 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*
}
// c->vofa_send[0] =c->motorfeedback.rotor_angle6020[0];
// c->vofa_send[1] =c->hopemotorout.motor6020_target[0];
// c->vofa_send[2] =chassis6020_detangle[0];
// c->vofa_send[3] =c->final_out.final_6020out[0];
// c->vofa_send[2] =;
// c->vofa_send[3] =;
// c->vofa_send[4] =;
// c->vofa_send[5] =;
// c->vofa_send[6] =;

21
User/Module/Chassis.h
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@ -78,15 +78,14 @@ typedef struct
AgvNormalPos AgvZeroPos;
const fp32 Agv6020zeroPos[4];
/*该部分决定PID的参数整定在config中修改*/
pid_param_t C6020Omega_param;
pid_param_t C6020Angle_param;
pid_param_t M3508_param;
pid_param_t AngleCor_param;
pid_param_t OmegaCor_param;
pid_param_t DisCamera_param;
pid_param_t ImuCor_param;
pid_param_t M3508_param;
pid_param_t C6020Omega_param;
pid_param_t C6020Angle_param;
pid_param_t CameraAngle_param;
pid_param_t CameraSpeed_param;
pid_param_t C6020pitAngle_param;
pid_param_t C6020pitOmega_param;
pid_param_t NaviVx_param;
pid_param_t NaviVy_param;
pid_param_t NaviVw_param;
@ -161,10 +160,8 @@ typedef struct{
struct{
pid_type_def chassis_6020anglePid;
pid_type_def chassis_6020OmegaPid;
pid_type_def chassis_AngleCorPID;
pid_type_def chassis_OmegaCorPID;
pid_type_def chassis_DisCameraPID;
pid_type_def chassis_ImuCorPID;
pid_type_def chassis_CameraanglePID;
pid_type_def chassis_CameraspeedPID;
pid_type_def chassis_3508VecPID[4];
pid_type_def chassis_pitAngle6020;
pid_type_def chassis_pitOmega6020;
@ -180,6 +177,8 @@ typedef struct{
float keep_angle[4]; // 保持的 6020 角度
fp32 chassis_yaw;
fp32 chassis_yaw_pid;
}Chassis_t;
/**

66
User/Module/config.c
View File

@ -15,9 +15,8 @@ static const ConfigParam_t param_chassis ={
#endif
.chassis = {/**/
.C6020Angle_param = {
.chassis = {/**/
.C6020Angle_param = {
.p = 18.0f,
.i = 0.0f,
.d =6.0f,
@ -33,7 +32,27 @@ static const ConfigParam_t param_chassis ={
.i_limit = 150.0f,
.out_limit = 25000.0f
},
.CameraAngle_param = {
.p = 50.0f,
.i = 0.3f,
.d = 3.5f,
.i_limit = 100.0f,
.out_limit =1000.0f,
},
.CameraSpeed_param = {
.p = 30.0f,
.i = 0.0f,
.d = 0.5f,
.i_limit = 0.0f,
.out_limit =7000.0f,
},
.M3508_param = {
.p = 15.0f,
.i = 0.0f,
.d = 0.8f,
.i_limit = 0.0f,
.out_limit = 5000.0f,
},
.C6020pitAngle_param = {
.p = 10.0f,
.i = 0.025f,
@ -47,42 +66,7 @@ static const ConfigParam_t param_chassis ={
.d =0.0f,
.i_limit = 2000.0f,
.out_limit = 3000.0f
},
.AngleCor_param = {
.p =3.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.OmegaCor_param = {
.p =20.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.ImuCor_param = {
.p =95.0f,
.i =0.0f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =200.0f,
},
.DisCamera_param = {
.p =80.0f,
.i =0.1f,
.d =0.0f,
.i_limit = 0.0f,
.out_limit =5000.0f,
},
.M3508_param = {
.p = 15.0f,
.i = 0.0f,
.d = 0.8f,
.i_limit = 0.0f,
.out_limit = 5000.0f,
},
},
},
/*码盘导航*/
@ -136,7 +120,7 @@ static const ConfigParam_t param_chassis ={
.i = 0.0f,
.d = 0.5f,
.i_limit = 0.0f,
.out_limit =7000.0f,
.out_limit =7000.0f,
},
.pid_pos_xy_inner_param={
.p =4.0f,

49
User/device/map.c
View File

@ -13,8 +13,6 @@ point_t path_2;
sick_t sick_2;
point_t path_3;
sick_t sick_3;
int finish_flag = 0;
//点位坐标x轴朝前，y轴朝右
void block_select(Action_POS_t*pos,CMD_t*cmd){
@ -40,34 +38,37 @@ void block_select(Action_POS_t*pos,CMD_t*cmd){
//3
path_3.x = pos->pos_x;
path_3.y = pos->pos_y;
path_3.angle= 10;
//path_3.angle= 10;
sick_3.sick_qian = 0;
sick_3.sick_you = 0;
sick_3.sick_hou = 0;
sick_3.sick_zuo = 0;
sick_3.sick_flag = 0;
// static float target_angle = 0;
// static int finish_flag = 0;
// //检测是否使用相机
// if(cmd->camera_yaw != 0){
//
//// if(finish_flag == 0){
// target_angle += cmd->camera_yaw;
// if(target_angle<0){
// target_angle+=360;
// }
// if(target_angle>360){
// target_angle-=360;
// }
//// finish_flag = 1;
//// }
//// if(abs(pos->pos_yaw - target_angle)){
//// finish_flag = 0;
//// }
// }
// path_3.angle=target_angle;
// 状态控制变量
static float fixed_yaw = 0;
static int is_calibrating = 0;
static float prev_camera_yaw = 0;
// 非NAVI模式直接重置状态
if (cmd->C_cmd.mode != NAVI) {
is_calibrating = 0;
}
if (cmd->camera_yaw != 0) {
// 只有未校准时才更新固定值
if (is_calibrating == 0) {
fixed_yaw = pos->pos_yaw + cmd->camera_yaw;
is_calibrating = 1;
}
// 校准期间始终使用fixed_yaw
path_3.angle = fixed_yaw;
prev_camera_yaw = cmd->camera_yaw;
}
}
/**
* 路径选择

4
User/device/navi.c
View File

@ -72,7 +72,7 @@ bool isArrive_path(point_t p,ops_t *o)
if(xArrive && yArrive ) return true;
else return false;
}
int a,b;
//利用C板imu纠正角度
fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle,pid_type_def *outer_yaw_pid_set,pid_type_def *inner_yaw_pid_set){
@ -88,8 +88,6 @@ fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle,pid_type_def *outer_yaw_pid_set,pid
//内环速度纠正
delta_wz = PID_calc(inner_yaw_pid_set,o->ops_gyro.z,delta_angle);
a= delta_angle;
b= delta_wz;
return delta_wz;
}

12
readme.md
View File

@ -38,19 +38,17 @@
1，配合相机纠正yaw
2，加前馈pid来改进后轮压力不平衡导致电流过大6020发烫的问题
2，改进遥控器控制时6020会小幅度动的问题
3，改进遥控器控制时6020会小幅度动的问题
3，锁死时5065能动，改进一下让5065锁死
4，锁死时5065能动，改进一下让5065锁死
4，加快跑点速度（如果要跑点的话）
5，加快导航速度
6，加一个防翻虚拟云台
5，加一个防翻虚拟云台（目前车的重心较低，这点可忽略）
经证实，后轮压力不平衡导致后轮6020锁死时转不到目标角度导致电流过大引起6020发烫，因为双环pid的out在动的瞬间已经达到最大值25000，但6020转不动，电控已经无能为力了。
经证实，后轮压力不平衡导致后轮6020锁死时转不到目标角度导致电流过大引起6020发烫，因为双环pid的out在动的瞬间已经达到最大值25000，但6020转不动，电控已经无能为力了。也不能通过检测6020电流是否过大来让6020停止转动，这种方法丧失了其功能性，目前发射要锁死时还是先抬一下后轮防止6020憋死，后期只能看重量分配能不能改善这一点。
目标效果：