From f05b2c120b251f8a9e11d2a1bfd72e1fdae745ea Mon Sep 17 00:00:00 2001 From: RB Date: Mon, 17 Mar 2025 12:51:00 +0800 Subject: [PATCH] =?UTF-8?q?=E8=8B=B1=E9=9B=84=E5=95=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/DevC.uvoptx | 29 +- MDK-ARM/DevC/DevC.axf | Bin 891048 -> 891112 bytes MDK-ARM/DevC/DevC.hex | 17367 ++++++++++++++++++----------------- User/component/cmd.c | 2 +- User/component/user_math.c | 1 + User/device/referee.h | 2 +- User/module/config.c | 14 +- User/module/shoot.c | 2 +- 8 files changed, 8723 insertions(+), 8694 deletions(-) diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx index 5d9d364..b1e4ddc 100644 --- a/MDK-ARM/DevC.uvoptx +++ b/MDK-ARM/DevC.uvoptx @@ -324,6 +324,11 @@ BIN\CMSIS_AGDI.dll + + 0 + ST-LINKIII-KEIL_SWO + -U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + 0 ARMRTXEVENTFLAGS @@ -347,7 +352,7 @@ 0 CMSIS_AGDI - -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) + -X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM) 0 @@ -390,7 +395,27 @@ 6 1 - cfg_qs + cap_out,0x0A + + + 7 + 1 + pm01_od,0x0A + + + 8 + 1 + cap,0x0A + + + 9 + 1 + gimbal + + + 10 + 1 + cmd diff --git 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zCd{_=kJiKyt#nZ#6+#B#UP2^Dg&_rjLa~Pkk^+k;Bs2=ryC^6^p+yiuSr08Nf{IL9 zZ@wi2B`rcC%pmCdyZhaCxKGE=@BG=l?sCs%`<=5H0(k=7HSh@!tYQ-yJ%gWkA{0Nql~vv`)AbNczuT5`Tv9wkc;fB&qH{G0k`UaqiS!!J3c?~`MJ+; z@Qd;Z^Z9>(>G5%nTY8?No< z1+hE*asUlDYj_tviQR`%>O1fS!+m%Z54xZ8(O`hUye19EH86}9HEBS63ojY;U>JIeXug%9s5l z_&ok>_zJEjv(P(%98NYHfe8W;QYyU$&u~kooD9O&^??t#>q%Y0&SvdMuN4@wmj#xy z_;01`!?D?UI%bF1?EC$g9S`O*{NSzgi$94(9Xmm>SBj+5FU5W5Dn)P~=}kwRf~j*m>*UKtF=vPW0lcuochassis.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; } /** diff --git a/User/component/user_math.c b/User/component/user_math.c index b51d2b5..3d22b8d 100644 --- a/User/component/user_math.c +++ b/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 5600.f; } /* 不为裁判系统设定值时,计算转速 */ diff --git a/User/device/referee.h b/User/device/referee.h index a362086..5480c53 100644 --- a/User/device/referee.h +++ b/User/device/referee.h @@ -21,7 +21,7 @@ extern "C" { /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ #define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) -#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */ +#define CHASSIS_POWER_MAX_WITHOUT_REF 50.0f /* 裁判系统离线底盘最大功率 */ #define REF_UI_MAX_GRAPIC_NUM (7) #define REF_UI_MAX_STRING_NUM (7) diff --git a/User/module/config.c b/User/module/config.c index 495c01d..1093adc 100644 --- a/User/module/config.c +++ b/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, - .p = 1.5f, + .k = 2.0f, + .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, - .p = 5.0f, - .i = 2.5f, + .k = 4.0f, + .p = 6.0f, + .i = 1.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, @@ -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}, diff --git a/User/module/shoot.c b/User/module/shoot.c index 606ab76..652d2cd 100644 --- a/User/module/shoot.c +++ b/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 ------------------------------------------------------------ */