robofish/rm_balance
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Robofish 2026-01-11 02:39:43 +08:00
parent 1bdee0af4d
commit 22cdb32157
5 changed files with 6093 additions and 5226 deletions
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5
MDK-ARM/CtrBoard-H7_ALL.uvoptx
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@ -165,6 +165,11 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>shoot</ItemText> <ItemText>shoot</ItemText>
</Ww> </Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>dr16</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>

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MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
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MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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2
User/module/shoot.c
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@ -5,6 +5,7 @@
#include "component/user_math.h" #include "component/user_math.h"
#include <math.h> #include <math.h>
#include "bsp/time.h" #include "bsp/time.h"
#include "device/motor_rm.h"
static bool last_firecmd; static bool last_firecmd;
@ -290,7 +291,6 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
} }
} }
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]); MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->trig_motor_param);
last_firecmd = cmd->firecmd; last_firecmd = cmd->firecmd;
return 0; return 0;
} }

2
User/task/init.c
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@ -33,7 +33,7 @@ void Task_Init(void *argument) {
/* 创建任务线程 */ /* 创建任务线程 */
task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit); task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit);
// task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis); task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal); task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor); task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink); task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);