robofish/move_xrobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

这一套要留好，很好用

Browse Source
This commit is contained in:
Robofish 2025-01-16 02:17:32 +08:00
parent 9923566a10
commit 8e7ac722e6
5 changed files with 8157 additions and 8141 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
MDK-ARM/DevC.uvoptx
View File

@ -392,6 +392,21 @@
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ai</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>rc</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -1255,7 +1270,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/DevC/DevC.axf
View File

Binary file not shown.

16267
MDK-ARM/DevC/DevC.hex
View File

File diff suppressed because it is too large Load Diff

2
User/module/chassis.c
View File

@ -264,7 +264,7 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
case CHASSIS_MODE_INDENPENDENT: /* 独立模式控制向量与运动向量相等 */
c->move_vec.vx = c_cmd->ctrl_vec.vx;
c->move_vec.vy = c_cmd->ctrl_vec.vx;
c->move_vec.vy = c_cmd->ctrl_vec.vy;
break;
case CHASSIS_MODE_OPEN:

10
User/module/gimbal.c
View File

@ -130,12 +130,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode);
/* yaw坐标正方向与遥控器操作逻辑相反 */
// g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
// if (g->param->pit_ctrl_reverse){
// g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
// }else{
// g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
// }
g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
if (g->param->pit_ctrl_reverse){
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
}else{
g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
}
/* 处理yaw控制命令 */
CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);