射速5350

MDK-ARM/DevC.uvoptx

@@ -410,7 +410,12 @@
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
+          <ItemText>gimbal</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>

MDK-ARM/DevC.uvprojx

@@ -16,8 +16,8 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -1732,8 +1732,8 @@
         <TargetCommonOption>
           <Device>STM32F407IGHx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
+          <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF)  CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>

User/component/cmd.c

@@ -250,7 +250,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
   cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
   cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
-  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
+  cmd->gimbal.delta_eulr.pit = -rc->ch_r_y * dt_sec * cmd->param->sens_rc;
 }
 
 /**

User/component/user_math.c

@@ -107,6 +107,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
   } else {
     if (bullet_speed == 10.0f) return 4450.f;
     if (bullet_speed == 16.0f) return 5800.f;
+    if (bullet_speed == 15.0f) return 5350.f;
   }
 
   /* 不为裁判系统设定值时,计算转速 */

User/device/can.c

@@ -66,8 +66,6 @@ static osThreadId_t thread_alert;
 static CAN_t *gcan;
 static bool inited = false;
 
-volatile pm01_od_t pm01_od;
-
 /* Private function  -------------------------------------------------------- */
 static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
                              const uint8_t *raw)
@@ -263,8 +261,8 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
                          &(can->mailbox.shoot));
     break;
 		
-  default:
+	default:
-    break;
+		break;
   }
   return DEVICE_OK;
 }
@@ -310,60 +308,6 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
     can->recive_flag |= 1 << 10;
     CAN_Tof_Decode(&(can->tof), can_rx->rx_data);
     break;
- //超电
- case 0x600:
- pm01_od.ccr = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.ccr = pm01_od.ccr;
-break;
-case 0x601:
- pm01_od.p_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.p_set = pm01_od.p_set;
-break;
-case 0x602:
- pm01_od.v_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.v_set = pm01_od.v_set;
-break;
-
-case 0x603:
- pm01_od.i_set = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.i_set = pm01_od.i_set;
-break;
-
-case 0x610:
- pm01_od.sta_code.all = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.sta_code.all = pm01_od.sta_code.all;
- pm01_od.err_code = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
- can->cap.cap_od.err_code = pm01_od.err_code;
-break;
-
-case 0x611:
- pm01_od.p_in = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.p_in = pm01_od.p_in;
- pm01_od.v_in = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
- can->cap.cap_od.v_in = pm01_od.v_in;
- pm01_od.i_in = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
- can->cap.cap_od.i_in = pm01_od.i_in;
-break;
-
-case 0x612:
- pm01_od.p_out = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.p_out = pm01_od.p_out;
- pm01_od.v_out = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
- can->cap.cap_od.v_out = pm01_od.v_out;
- pm01_od.i_out = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
- can->cap.cap_od.i_out = pm01_od.i_out;
-break;
-
-case 0x613:
- pm01_od.temp = (uint16_t)can_rx->rx_data[0] << 8 | can_rx->rx_data[1];
- can->cap.cap_od.temp = pm01_od.temp;
- pm01_od.total_time = (uint16_t)can_rx->rx_data[2] << 8 | can_rx->rx_data[3];
- can->cap.cap_od.total_time = pm01_od.total_time;
- pm01_od.run_time = (uint16_t)can_rx->rx_data[4] << 8 | can_rx->rx_data[5];
- can->cap.cap_od.run_time = pm01_od.run_time;
-break;
-
- 
   default:
     break;
   }
@@ -385,7 +329,6 @@ int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
   return DEVICE_OK;
 }
 
-//不用这里
 int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
 {
   float power_limit = output->power_limit;
@@ -405,200 +348,6 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
   return DEVICE_OK;
 }
 
-//添加的电容控制 int型函数
-//超电控制
-/**
-  * @brief          控制命令发送
-  * @param[in]      new_cmd   0x00: 停机
-															0x01: 运行，不打开输出负载开关（只给超级电容充电）
-															0x02: 运行，打开输出负载开关（正常运行使用该指令）
-	                  save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-  * @retval         none
-  */
- int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can)
- {
- 
-   uint16_t cmd = output->new_cmd;
-  // uint16_t cmd = 2;
- 
-   raw_tx.tx_header.StdId = 0x600;
-   raw_tx.tx_header.IDE = CAN_ID_STD;
-   raw_tx.tx_header.RTR = CAN_RTR_DATA;
-   raw_tx.tx_header.DLC = 0x04;
-   raw_tx.tx_data[0] = (uint8_t)(cmd >> 8   );
-   raw_tx.tx_data[1] = (uint8_t)(cmd &  0xFF);
-   raw_tx.tx_data[2] = 0x00;
-   raw_tx.tx_data[3] = (0x00 == 0x01);	//反正demo里设置的是0x00,不管了
- 
-   HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                        raw_tx.tx_data, &(can->mailbox.cap));
-   return DEVICE_OK;
- 
- }
- 
-  /**
-    * @brief          设置功率
-    * @param[in]      new_power：新的功率值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can)
-   {
-     uint16_t cmd = output->new_power;
-    //uint16_t cmd = 5000;
-   
-     raw_tx.tx_header.StdId = 0x601;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_DATA;
-     raw_tx.tx_header.DLC = 0x04;
-     raw_tx.tx_data[0] = (uint8_t)(cmd >> 8   );
-     raw_tx.tx_data[1] = (uint8_t)(cmd &  0xFF);
-     raw_tx.tx_data[2] = 0x00;
-     raw_tx.tx_data[3] = (0x00 == 0x01);	//save_flg
-   
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
- 
-  /**
-    * @brief          设置输出电压
-    * @param[in]      new_volt：新的电压值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can)
-   {
-     uint16_t cmd = output->new_voltage;
-    // uint16_t cmd = 2400;
-   
-     raw_tx.tx_header.StdId = 0x602;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_DATA;
-     raw_tx.tx_header.DLC = 0x04;
-     raw_tx.tx_data[0] = (uint8_t)(cmd >> 8   );
-     raw_tx.tx_data[1] = (uint8_t)(cmd &  0xFF);
-     raw_tx.tx_data[2] = 0x00;
-     raw_tx.tx_data[3] = (0x00 == 0x01);	//save_flg
-   
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
-  /**
-    * @brief          设置输出电流
-    * @param[in]      new_volt：新的电流值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can)
-   {
-     uint16_t cmd = output->new_current;
-    // uint16_t cmd = 500;
-   
-     raw_tx.tx_header.StdId = 0x603;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_DATA;
-     raw_tx.tx_header.DLC = 0x04;
-     raw_tx.tx_data[0] = (uint8_t)(cmd >> 8   );
-     raw_tx.tx_data[1] = (uint8_t)(cmd &  0xFF);
-     raw_tx.tx_data[2] = 0x00;
-     raw_tx.tx_data[3] = (0x00 == 0x01);	//save_flg
-   
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
- 
-  /**
-    * @brief          获取输入信息
-    * @param[in]      new_volt：新的电流值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_input_send(CAN_t *can)
-   {
- 
-     raw_tx.tx_header.StdId = 0x611;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
-     raw_tx.tx_header.DLC = 0x00;
- 
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
- 
-    /**
-    * @brief          获取输出信息
-    * @param[in]      new_volt：新的电流值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_output_send(CAN_t *can)
-   {
- 
-     raw_tx.tx_header.StdId = 0x612;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
-     raw_tx.tx_header.DLC = 0x00;
- 
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
- 
-    /**
-    * @brief          获取其他信息
-    * @param[in]      new_volt：新的电流值
-                      save_flg: 0x00: 不保存至EEPROM  0x01: 保存至EEPROM
-    * @retval         none
-    */
-   int8_t CAN_Cap_other_send(CAN_t *can)
-   {  
-     raw_tx.tx_header.StdId = 0x613;
-     raw_tx.tx_header.IDE = CAN_ID_STD;
-     raw_tx.tx_header.RTR = CAN_RTR_REMOTE;
-     raw_tx.tx_header.DLC = 0x00;
- 
-     HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->cap), &raw_tx.tx_header,
-                          raw_tx.tx_data, &(can->mailbox.cap));
-     return DEVICE_OK;
-   
-   }
- 
- /**
-  * @brief          超电容器参数设置
-  * @param cap_out  电容输出结构体
-  * @param can      can总线
-  * @retval         none
-  */
- void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can) 
- {
-   
-   CAN_Cap_input_send(can);//获取输入信息
-   osDelay(1);
-   CAN_Cap_output_send(can);//获取输出信息
-   osDelay(1);
- ////  CAN_Cap_other_send(can);//获取其他信息
- ////  osDelay(1);
-   CAN_Cap_cmd_send(output, can);//控制命令发送
-   osDelay(1);
-   CAN_Cap_power_send(output, can);//设置功率
-   osDelay(1);
-   CAN_Cap_voltage_send(output, can);//设置输出电压
-   osDelay(1);
-   CAN_Cap_current_send(output, can);//设置输出电流
- 
- 
- }
- 
- 
 void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
                            float power_chassis)
 {

User/device/can.h

@@ -163,10 +163,6 @@ typedef union {
 
 typedef struct {
   float power_limit;
-  uint16_t new_cmd;//can的超电控制设置数值
-  uint16_t new_power;
-  uint16_t new_voltage;
-  uint16_t new_current;
 } CAN_CapOutput_t;
 
 typedef struct {
@@ -236,61 +232,11 @@ typedef struct {
   uint8_t tx_data[CAN_TX_BUF_SIZE_MAX];
 } CAN_RawTx_t;
 
-//超电
-typedef union 
-{
-
-  uint16_t all;
-  struct {
-      uint16_t rdy:   1;  /*!< bit0    就绪     */
-      uint16_t run:   1;  /*!< bit1    运行     */
-      uint16_t alm:   1;  /*!< bit2    报警     */
-      uint16_t pwr:   1;  /*!< bit3    电源开关 */
-      uint16_t load:  1;  /*!< bit4    负载开关 */
-      uint16_t cc:    1;  /*!< bit5    恒流     */
-      uint16_t cv:    1;  /*!< bit6    恒压     */
-      uint16_t cw:    1;  /*!< bit7    恒功率   */
-      uint16_t revd:  7;  /*!< bit8-14 保留     */
-      uint16_t flt:   1;  /*!< bit15   故障     */
-  }bit;
-
-}csr_t;
-
-typedef struct mb_reg_type{
-
-  uint16_t ccr;         /*!< 8000H 控制寄存器     */
-  uint16_t p_set;       /*!< 8001H 输入功率限制   */  
-  uint16_t v_set;       /*!< 8002H 输出电压设置   */
-  uint16_t i_set;       /*!< 8003H 输出电流限制   */
-  csr_t    sta_code;    /*!< 8100H 状态标志位     */  
-  uint16_t err_code;    /*!< 8101H 故障代码       */
-  int16_t  v_in;        /*!< 8102H 输入电压       */
-  int16_t  i_in;        /*!< 8103H 输入电流       */
-  int16_t  p_in;        /*!< 8104H 输入功率       */
-  int16_t  v_out;       /*!< 8105H 输出电压       */
-  int16_t  i_out;       /*!< 8106H 输出电流       */
-  int16_t  p_out;       /*!< 8107H 输出功率       */
-  int16_t  temp;        /*!< 8108H 温度           */
-  uint16_t total_time;  /*!< 8109H 累计时间       */
-  uint16_t run_time;    /*!< 810AH 运行时间       */
-
-  volatile uint16_t  pm01_access_id;    /* 正在访问的标识符     */
-  volatile uint16_t  pm01_response_flg; /* 控制器响应成功标志位 */
-  
-  uint16_t g_cmd_set   ;
-  uint16_t g_power_set ;
-  uint16_t g_vout_set  ;
-  uint16_t g_iout_set  ;
-
-}pm01_od_t;
-
-
 typedef struct {
-  float percentage;// 电容器的百分比状态
+  float percentage;
   CAN_CapStatus_t cap_status;
   CAN_CapFeedback_t cap_feedback;
-  volatile pm01_od_t cap_od;
+} CAN_Capacitor_t;
-} CAN_Capacitor_t;//
 
 typedef struct {
   CAN_ChassisMotor_t chassis;
@@ -337,16 +283,6 @@ void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
 
 void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw);
 
-//添加send函数
-int8_t CAN_Cap_cmd_send(CAN_CapOutput_t *output, CAN_t *can);
-int8_t CAN_Cap_power_send(CAN_CapOutput_t *output, CAN_t *can);
-int8_t CAN_Cap_voltage_send(CAN_CapOutput_t *output, CAN_t *can);
-int8_t CAN_Cap_current_send(CAN_CapOutput_t *output, CAN_t *can);
-int8_t CAN_Cap_output_send(CAN_t *can);
-int8_t CAN_Cap_input_send(CAN_t *can);
-int8_t CAN_Cap_other_send(CAN_t *can);
-void Can_Set_send(CAN_CapOutput_t *output, CAN_t *can);
-
 #ifdef __cplusplus
 }
 #endif

User/module/cap.c

@@ -26,42 +26,21 @@
  * @param cap_out 电容输出结构体
  */
 void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
-  CAN_CapOutput_t *cap_out) {
+                 CAN_CapOutput_t *cap_out) {
-if (referee->ref_status != REF_STATUS_RUNNING) {
+  if (referee->ref_status != REF_STATUS_RUNNING) {
-/* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
+    /* 当裁判系统离线时，依然使用裁判系统进程传来的数据 */
-cap_out->power_limit = referee->chassis_power_limit;
+    cap_out->power_limit = referee->chassis_power_limit;
-} else {
+  } else {
-/* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
+    /* 当裁判系统在线时，使用算法控制裁判系统输出（即电容输入） */
-cap_out->power_limit =
+    cap_out->power_limit =
-PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
+        PowerLimit_CapInput(referee->chassis_watt, referee->chassis_power_limit,
-             referee->chassis_pwr_buff);
+                            referee->chassis_pwr_buff);
-}
+  }
-/* 更新电容状态和百分比 */
+  /* 更新电容状态和百分比 */
-cap->cap_status = CAN_CAP_STATUS_RUNNING;
+  cap->cap_status = CAN_CAP_STATUS_RUNNING;
-// cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
+  cap->percentage = Capacity_GetCapacitorRemain(cap->cap_feedback.cap_volt,
-//                                               cap->cap_feedback.input_volt,
+                                                cap->cap_feedback.input_volt,
-//                                               CAP_CUTOFF_VOLT);//电容剩余电量比例
+                                                CAP_CUTOFF_VOLT);
-cap->percentage = Capacity_GetCapacitorRemain(cap->cap_od.v_out,
-                                   cap->cap_od.v_in,
-                                   CAP_CUTOFF_VOLT);//电容剩余电量比例                                              
-}
-
-/**
- * @brief 运行设置电容参数
- * 
- * @param cap_out 电容输出结构体
- * @param can can总线
- */
-void Cap_Can_Send(CAN_CapOutput_t *cap_out) 
-{
-  cap_out->new_cmd=2;
-  
-  cap_out->new_power=5000;
-
-  cap_out->new_voltage=2400;
-
-  cap_out->new_current=100;
-  
 }
 
 /**

User/module/cap.h

@@ -35,14 +35,6 @@ void Cap_Control(CAN_Capacitor_t *cap, const Referee_ForCap_t *referee,
  */
 void Cap_DumpUI(const CAN_Capacitor_t *cap, Referee_CapUI_t *ui);
 
-/**
- * @brief 运行设置电容参数
- * 
- * @param cap_out 电容输出结构体
- * @param can can总线
- */
-void Cap_Can_Send(CAN_CapOutput_t *cap_out) ;
-
 #ifdef __cplusplus
 }
 #endif

User/module/config.c

@@ -248,7 +248,7 @@ static const Config_RobotParam_t param_hero = {
     .pid = {
       {
         /* GIMBAL_PID_YAW_OMEGA_IDX */
-        .k = 0.24f,
+        .k = 0.4f,
         .p = 1.0f,
         .i = 0.5f,
         .d = 0.0f,
@@ -268,8 +268,8 @@ static const Config_RobotParam_t param_hero = {
         .range = M_2PI,
       }, {
         /* GIMBAL_PID_PIT_OMEGA_IDX */
-        .k = 0.6f,
+        .k = 2.0f,
-        .p = 1.5f,
+        .p = 0.8f,
         .i = 0.0f,
         .d = 0.0f,
         .i_limit = 1.0f,
@@ -278,9 +278,9 @@ static const Config_RobotParam_t param_hero = {
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_PIT_ANGLE_IDX */
-        .k = 3.0f,
+        .k = 4.0f,
-        .p = 5.0f,
+        .p = 6.0f,
-        .i = 2.5f,
+        .i = 1.0f,
         .d = 0.0f,
         .i_limit = 0.0f,
         .out_limit = 10.0f,
@@ -315,7 +315,7 @@ static const Config_RobotParam_t param_hero = {
     },
     .trig_pid_param = {
       .k = 10.0f,
-      .p = 1.0f,
+      .p = 0.95f,
       .i = 0.0f,
       .d = 0.032f,
       .i_limit = 1.0f,
@@ -358,7 +358,7 @@ static const Config_RobotParam_t param_hero = {
 static const Config_PilotCfg_t cfg_qs = {
   .param = {
 		.sens_mouse = 0.01f,
-		.sens_rc = 6.0f,
+		.sens_rc = 4.0f,
     .map = {
       .key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},
       .key_map[CMD_BEHAVIOR_BACK] = {CMD_ACTIVE_PRESSED, CMD_KEY_S},

User/module/shoot.c

@@ -14,7 +14,7 @@
 #define HEAT_INCREASE_42MM (100.f) /* 每发射一颗42mm弹丸增加100热量 */
 #define HEAT_INCREASE_17MM (10.f)  /* 每发射一颗17mm弹丸增加10热量 */
 
-#define BULLET_SPEED_LIMIT_42MM (16.0)
+#define BULLET_SPEED_LIMIT_42MM (15.0)
 #define BULLET_SPEED_LIMIT_17MM (30.0)
 
 /* Private macro ------------------------------------------------------------ */

User/task/can.c

@@ -53,17 +53,13 @@ void Task_Can(void *argument) {
     osMessageQueueReset(task_runtime.msgq.can.feedback.shoot);
     osMessageQueuePut(task_runtime.msgq.can.feedback.shoot, &can, 0, 0);
 
-    //不注释掉不能用
+    if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
-    // if (CAN_CheckFlag(&can, CAN_REC_CAP_FINISHED)) {
+      osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
-    //   osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
+      osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
-    //   osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
+      CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
-    //   CAN_ClearFlag(&can, CAN_REC_CAP_FINISHED);
+    } else {
-    // } else {
+      // Error Handle
-    //   // Error Handle
+    }
-    // }
-
-    osMessageQueueReset(task_runtime.msgq.can.feedback.cap);
-    osMessageQueuePut(task_runtime.msgq.can.feedback.cap, &can, 0, 0);
 
     if (CAN_CheckFlag(&can, CAN_REC_TOF_FINISHED)) {
       osMessageQueueReset(task_runtime.msgq.can.feedback.tof);
@@ -88,19 +84,10 @@ void Task_Can(void *argument) {
       CAN_Motor_Control(CAN_MOTOR_GROUT_SHOOT1, &can_out, &can);
     }
 
-    // if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
+    if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
-    //                       0) == osOK) {
+                          0) == osOK) {
-    //   CAN_Cap_Control(&(can_out.cap), &can);
+      CAN_Cap_Control(&(can_out.cap), &can);
-    // }
+    }
-     
- //在cap的task里计算电容的输出功率消息队列
- if (osMessageQueueGet(task_runtime.msgq.can.output.cap, &(can_out.cap), 0,
-             0) == osOK) {
- //   CAN_Cap_Control(&(can_out.cap), &can);
-    Can_Set_send(&(can_out.cap), &can);
-
-
-}
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
 }

User/task/cap.c

@@ -74,9 +74,6 @@ void Task_Cap(void *argument) {
       osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
       /* 根据裁判系统数据计算输出功率 */
       Cap_Control(&can.cap, &referee_cap, &cap_out);
-       /* 超电参数设置 */
-      Cap_Can_Send(&cap_out); 
-      
       osKernelUnlock();
       /* 将电容输出值发送到CAN */
       osMessageQueueReset(task_runtime.msgq.can.output.cap);