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正常的英雄

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This commit is contained in:
Robofish 2025-01-17 16:18:34 +08:00
parent 9f67e5e851
commit b84b648d54
5 changed files with 8846 additions and 8846 deletions
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15
MDK-ARM/DevC.uvoptx
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@ -407,6 +407,11 @@
<WinNumber>1</WinNumber>
<ItemText>rc</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_host</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -658,7 +663,7 @@
<Group>
<GroupName>Application/User/USB_DEVICE/App</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1214,7 +1219,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1494,7 +1499,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1670,7 +1675,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1750,7 +1755,7 @@
<Group>
<GroupName>User/module</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/DevC/DevC.axf
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17650
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

25
User/component/cmd.c
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@ -190,27 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
/* 左拨杆相应行为选择和解析 */
case CMD_SW_UP:
cmd->chassis.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;
}

2
User/module/config.c
View File

@ -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,