英雄啊

MDK-ARM/DevC.uvoptx

@@ -324,6 +324,11 @@
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -347,7 +352,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-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)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -390,7 +395,27 @@
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cfg_qs</ItemText>
+          <ItemText>cap_out,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>pm01_od,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cap,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>gimbal</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>

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 5600.f;
   }
 
   /* 不为裁判系统设定值时,计算转速 */

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)

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,
@@ -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 ------------------------------------------------------------ */