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射速5350

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ws 2025-03-18 17:29:12 +08:00
parent 7aef65bf92
commit 46ff0ff445
6 changed files with 31 additions and 28 deletions
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8
MDK-ARM/DevC.uvprojx
View File

@ -16,8 +16,8 @@
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
<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>
<PackURL>http://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32F4xx_DFP.2.17.1</PackID>
<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>

BIN
MDK-ARM/DevC/DevC.axf
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44
MDK-ARM/DevC/DevC.hex
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@ -913,7 +913,7 @@
:1038F000C2F200031A6042F24D52C2F2000211708D
:103900008DF84700FFE79DF9470012B080BD000029
:1039100080B590B08DF83E000E910D920E9820B9B2
:10392000FFE7FE208DF83F0039E19DF83E0001469B
:10392000FFE7FE208DF83F003AE19DF83E0001469A
:10393000079158B1FFE707980138022869D3FFE7DC
:10394000079803380228C0F0B58024E10E9890ED66
:10395000000A9FED951A20EE010ABDEEC00A10EE96
@ -928,7 +928,7 @@
:1039E0009DF82F000877BDF82E0048779DF82D0030
:1039F0008877BDF82C00C8770D98D0F8C4000078FF
:103A0000FFF7DAF80599069A0D9BC83304F098FE83
:103A1000C1E00E9890ED040A9FED651A20EE010AB0
:103A1000C2E00E9890ED040A9FED651A20EE010AAF
:103A2000BDEEC00A10EE100AADF82A000E9890ED17
:103A3000050A20EE010ABDEEC00A10EE100AADF82C
:103A4000280042F65031C2F20001039140F2FF20FB
@ -938,7 +938,7 @@
:103A8000C8770D98D0F8C4004078FFF795F80399EF
:103A9000049A0D9BCC3304F053FE0D98D0F8C4006B
:103AA0008078FFF789F80399049A0D9BCC3304F0D2
:103AB00047FE70E00E9890ED070A9FED3B1A20EE4E
:103AB00047FE71E00E9890ED070A9FED3B1A20EE4D
:103AC000010ABDEEC00A10EE100AADF826000E98ED
:103AD00090ED080A20EE010ABDEEC00A10EE100AB1
:103AE000ADF824000E9890ED090A20EE010ABDEE13
@ -952,8 +952,8 @@
:103B60002000C8770D98D0F8C400C078FFF724F87B
:103B70000199029A0D9BD03304F0E2FD0D98D0F824
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:103B900004F0D6FD00E0FFE700208DF83F00FFE7CE
:103BA0009DF93F0010B080BD0000804600401C46DB
:103BB0000060EA4683B00290019101980178407854
:103BC00040EA0120ADF8020001980179407940EA0D
:103BD0000120ADF80000BDF8020000EE100AB8EEBA
@ -1151,24 +1151,24 @@
:1047D000B0FA80F040098DF80F00FFE79DF80F0058
:1047E00004B080BD85B002A900910146009880ED1B
:1047F000010AC0ED000A8DF8071090ED010AB5EE30
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:1048D000B4EE410AF1EE10FA06D1FFE74EF2000005
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:1049000021EE021A80EE010A80ED020AFFE700980C
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:1049200080B584B00390029101920298007801282A
:1049300005D0FFE702988068019908600CE00298B2
:1049400090ED010AD0ED020A90ED031A0FF042FD3E
@ -9696,7 +9696,7 @@
:105DC0006C5F63686173736973006374726C5F7393
:105DD000686F6F74000000001B530208EB5202084A
:105DE000B1EA010800000000085E0208000000207F
:105DF0005804000056090008D85F02085804002023
:105DF0005804000056090008E05F0208580400201B
:105E000050AD0000A83C020881180AE5AB0108511A
:105E1000AC01086D041A95042AE50819141A010842
:105E200013500412201324F4400DFDA50108CDA445
@ -9723,9 +9723,9 @@
:105F7000494C89983914594C111A401809136C5915
:105F80000419242AC0749924A94029243E7A448CF7
:105F9000F2772049D41B803F545E3E0AD7233C98B9
:105FA0005950793C592C1A03900916DC69041AA03F
:105FB000142E98418FC2F54C4F3E9A99993D01A8F5
:105FC0005341643A010F290532101AAA01400967AA
:085FD00040533AD85D020800BD
:105FA0005950493C5C3333732C1A03900916DC6951
:105FB000041AA0142E98418FC2F54C4F3E9A99991D
:105FC0003D01A85341643A010F290532101AAA0174
:105FD00040096740533AD85D020800000000000005
:040000050800018965
:00000001FF

2
User/component/user_math.c
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@ -107,7 +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 5600.f;
if (bullet_speed == 15.0f) return 5350.f;
}
/* 不为裁判系统设定值时,计算转速 */

3
User/device/can.c
View File

@ -260,6 +260,9 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
&raw_tx.tx_header, raw_tx.tx_data,
&(can->mailbox.shoot));
break;
default:
break;
}
return DEVICE_OK;
}

2
User/module/config.c
View File

@ -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,