From b84b648d54ae7124e1ebdd1f8dc7dbfb0cd53563 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Fri, 17 Jan 2025 16:18:34 +0800 Subject: [PATCH] =?UTF-8?q?=E6=AD=A3=E5=B8=B8=E7=9A=84=E8=8B=B1=E9=9B=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/DevC.uvoptx | 15 +- MDK-ARM/DevC/DevC.axf | Bin 891480 -> 891324 bytes MDK-ARM/DevC/DevC.hex | 17650 ++++++++++++++++++++-------------------- User/component/cmd.c | 25 +- User/module/config.c | 2 +- 5 files changed, 8846 insertions(+), 8846 deletions(-) diff --git a/MDK-ARM/DevC.uvoptx b/MDK-ARM/DevC.uvoptx index ea45125..898418b 100644 --- a/MDK-ARM/DevC.uvoptx +++ b/MDK-ARM/DevC.uvoptx @@ -407,6 +407,11 @@ 1 rc + + 10 + 1 + cmd_host + 0 @@ -658,7 +663,7 @@ Application/User/USB_DEVICE/App - 1 + 0 0 0 0 @@ -1214,7 +1219,7 @@ Middlewares/USB_Device_Library - 1 + 0 0 0 0 @@ -1494,7 +1499,7 @@ User/component - 1 + 0 0 0 0 @@ -1670,7 +1675,7 @@ User/device - 1 + 0 0 0 0 @@ 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z5I3;m=YX8xVO-1#pIpgbiKC^4b4y2g)%bUOz#jhzL~*fP6@T>*R)zZRB`i2_fk|o|mF{28Jk_UMPsMXR&cn+*F2XGy&%y6|T#oxF~A2ma4@hVM_SEnyZ;$o6Gg zhZ5#2Vchassis.mode = CHASSIS_MODE_BREAK; - cmd->host_overwrite = false; - cmd->shoot.ai_fire = false; + // cmd->host_overwrite = false; + // cmd->shoot.ai_fire = false; break; case CMD_SW_MID: cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL; - cmd->host_overwrite = true; - cmd->shoot.ai_fire = false; + // cmd->host_overwrite = true; + // cmd->shoot.ai_fire = false; break; case CMD_SW_DOWN: cmd->chassis.mode = CHASSIS_MODE_ROTOR; cmd->chassis.mode_rotor = ROTOR_MODE_CW; - cmd->host_overwrite = true; - cmd->shoot.ai_fire = true; + // cmd->host_overwrite = true; + // cmd->shoot.ai_fire = true; break; case CMD_SW_ERR: cmd->chassis.mode = CHASSIS_MODE_RELAX; - cmd->host_overwrite = false; - cmd->shoot.ai_fire = false; + // cmd->host_overwrite = false; + // cmd->shoot.ai_fire = false; break; } switch (rc->sw_r) { @@ -254,7 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { case CMD_SW_ERR: cmd->gimbal.mode = GIMBAL_MODE_RELAX; cmd->shoot.mode = SHOOT_MODE_RELAX; - cmd->host_overwrite = false; + // cmd->host_overwrite = false; } /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */ cmd->chassis.ctrl_vec.vx = rc->ch_l_x; @@ -355,13 +355,12 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) { cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw; cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit; - cmd->shoot.mode = SHOOT_MODE_LOADED; - cmd->shoot.fire = false; /* host射击命令,设置不同的射击频率和弹丸初速度 */ - if (host->fire && cmd->shoot.ai_fire) { + if (host->fire) { + cmd->shoot.mode = SHOOT_MODE_LOADED; cmd->shoot.fire = true; } else { - cmd->shoot.fire = false; + cmd->shoot.mode = SHOOT_MODE_SAFE; } return 0; } diff --git a/User/module/config.c b/User/module/config.c index e7d1655..8f536f0 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -289,7 +289,7 @@ static const Config_RobotParam_t param_hero = { }, }, /* pid */ - .pitch_travel_rad = 1.07685447f, + .pitch_travel_rad = 0.9685447f, .low_pass_cutoff_freq = { .out = -1.0f,