修改recy模式

MDK-ARM/DevC.uvoptx

@@ -397,7 +397,30 @@
           <WinNumber>1</WinNumber>
           <ItemText>for_cap</ItemText>
         </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ref</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>param_default</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
       </WatchWindow1>
+      <MemoryWindow4>
+        <Mm>
+          <WinNumber>4</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>for_chassis</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -1796,7 +1819,7 @@
       <GroupNumber>12</GroupNumber>
       <FileNumber>105</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\User\module\shoot.c</PathWithFileName>

User/component/user_math.c

@@ -103,6 +103,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
   if (is17mm) {
     if (bullet_speed == 15.0f) return 4670.f;
     if (bullet_speed == 18.0f) return 5200.f;
+    if (bullet_speed == 25.0f) return 6600.f;
     if (bullet_speed == 30.0f) return 7350.f;
   } else {
     if (bullet_speed == 10.0f) return 4450.f;

User/module/config.c

@@ -188,7 +188,7 @@ static const Config_RobotParam_t param_default = {
     .cover_open_duty = 0.10f,
     .cover_close_duty = 0.050f,
     .model = SHOOT_MODEL_17MM,
-    .bullet_speed = 30.f,
+    .bullet_speed = 25.f,
     .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
   }, /* shoot */
 

User/module/shoot.c

@@ -15,7 +15,7 @@
 #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_17MM (30.0)
+#define BULLET_SPEED_LIMIT_17MM (25.0)
 
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
@@ -84,7 +84,7 @@ static int8_t Shoot_HeatLimit(Shoot_t *s, Referee_ForShoot_t *s_ref) {
     /* 检测热量更新后,计算可发射弹丸 */
     if ((hc->heat != hc->last_heat) || (hc->heat == 0)) {
       hc->available_shot =
-          (uint32_t)floorf((hc->heat_limit - hc->heat) / hc->heat_increase);
+          (uint32_t)floorf((hc->heat_limit - hc->heat) / hc->heat_increase) - 2;
       hc->last_heat = hc->heat;
     }
     /* 计算已发射弹丸 */
@@ -222,10 +222,11 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
       }
       break;
     }
-    case FIRE_MODE_CONT: { /* 持续开火模式 */
-      float shoot_freq = HeatLimit_ShootFreq(
-          s->heat_ctrl.heat, s->heat_ctrl.heat_limit, s->heat_ctrl.cooling_rate,
-          s->heat_ctrl.heat_increase, s->param->model == SHOOT_MODEL_17MM);
+    case FIRE_MODE_CONT: { /* Recy模式 */
+      // float shoot_freq = HeatLimit_ShootFreq(
+      //     s->heat_ctrl.heat, s->heat_ctrl.heat_limit, s->heat_ctrl.cooling_rate,
+      //     s->heat_ctrl.heat_increase, s->param->model == SHOOT_MODEL_17MM);
+      float shoot_freq = 20.0f; //射频
       s->fire_ctrl.period_ms =
           (shoot_freq == 0.0f) ? UINT32_MAX : (uint32_t)(1000.f / shoot_freq);
       break;