diff --git a/MDK-ARM/DevC.uvprojx b/MDK-ARM/DevC.uvprojx index 8a22525..6a66a26 100644 --- a/MDK-ARM/DevC.uvprojx +++ b/MDK-ARM/DevC.uvprojx @@ -16,8 +16,8 @@ STM32F407IGHx STMicroelectronics - Keil.STM32F4xx_DFP.2.15.0 - http://www.keil.com/pack/ + Keil.STM32F4xx_DFP.2.17.1 + https://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") @@ -1732,8 +1732,8 @@ STM32F407IGHx STMicroelectronics - Keil.STM32F4xx_DFP.2.15.0 - http://www.keil.com/pack/ + Keil.STM32F4xx_DFP.2.17.1 + https://www.keil.com/pack/ IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") diff --git a/MDK-ARM/DevC/DevC.axf b/MDK-ARM/DevC/DevC.axf index 89865b9..ca25187 100644 Binary files a/MDK-ARM/DevC/DevC.axf and b/MDK-ARM/DevC/DevC.axf differ diff --git a/MDK-ARM/DevC/DevC.hex b/MDK-ARM/DevC/DevC.hex index 8dfa0f5..e7ff212 100644 --- a/MDK-ARM/DevC/DevC.hex +++ b/MDK-ARM/DevC/DevC.hex @@ -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 :103B8000C4000079FFF718F80199029A0D9BD03311 -:103B900004F0D6FDFFE700208DF83F00FFE79DF918 -:103BA0003F0010B080BD00BF0000804600401C46B2 +:103B900004F0D6FD00E0FFE700208DF83F00FFE7CE +:103BA0009DF93F0010B080BD0000804600401C46DB :103BB0000060EA4683B00290019101980178407854 :103BC00040EA0120ADF8020001980179407940EA0D :103BD0000120ADF80000BDF8020000EE100AB8EEBA @@ -1151,24 +1151,24 @@ :1047D000B0FA80F040098DF80F00FFE79DF80F0058 :1047E00004B080BD85B002A900910146009880ED1B :1047F000010AC0ED000A8DF8071090ED010AB5EE30 -:10480000400AF1EE10FA03D1FFE7002004907DE0AA +:10480000400AF1EE10FA03D1FFE7002004907EE0A9 :104810009DF80700C007A0B3FFE7009890ED010ADC :10482000B2EE0E1AB4EE410AF1EE10FA06D1FFE72D -:104830004FF20000C4F29150049067E0009890EDB0 +:104830004FF20000C4F29150049068E0009890EDAF :10484000010AB3EE021AB4EE410AF1EE10FA06D1F3 -:10485000FFE748F20000C4F2A250049056E000982E +:10485000FFE748F20000C4F2A250049057E000982D :1048600090ED010AB3EE0E1AB4EE410AF1EE10FA21 -:1048700006D1FFE74BF20000C4F2E550049045E09A -:1048800032E0009890ED010AB2EE041AB4EE410A4B +:1048700006D1FFE74BF20000C4F2E550049046E099 +:1048800033E0009890ED010AB2EE041AB4EE410A4A :10489000F1EE10FA06D1FFE741F20000C4F28B50AE -:1048A000049033E0009890ED010AB3EE001AB4EEE4 +:1048A000049034E0009890ED010AB3EE001AB4EEE3 :1048B000410AF1EE10FA06D1FFE744F20000C4F21B -:1048C000B550049022E0009890ED010AB2EE0E1A65 -:1048D000B4EE410AF1EE10FA05D1FFE70020C4F270 -:1048E000AF50049012E0FFE7009890ED010A9FEDB1 -:1048F0000A1A20EE010A90ED001A9FED082A21EE17 -:10490000021A80EE010A80ED020AFFE7009890ED9E -:10491000020A05B0704700BF00007042DB0FC940BB +:1048C000B550049023E0009890ED010AB2EE0E1A64 +:1048D000B4EE410AF1EE10FA06D1FFE74EF2000005 +:1048E000C4F2AB50049012E0FFE7009890ED010A8B +:1048F0009FED091A20EE010A90ED001A9FED072A9C +:1049000021EE021A80EE010A80ED020AFFE700980C +:1049100090ED020A05B0704700007042DB0FC940FD :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 diff --git a/User/component/user_math.c b/User/component/user_math.c index 3d22b8d..d726281 100644 --- a/User/component/user_math.c +++ b/User/component/user_math.c @@ -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 */ diff --git a/User/device/can.c b/User/device/can.c index 22d3621..1d4a983 100644 --- a/User/device/can.c +++ b/User/device/can.c @@ -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; } diff --git a/User/module/config.c b/User/module/config.c index 1093adc..6a95b30 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -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,