From 33dfef3288b7657ea9ed56e0a9705bde762e4abb Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Tue, 10 Feb 2026 17:45:13 +0800 Subject: [PATCH] =?UTF-8?q?=E5=87=86=E5=A4=87=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 2 +- Core/Inc/FreeRTOSConfig.h | 2 +- MDK-ARM/CtrBoard-H7_ALL.uvoptx | 29 ++---------------- MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf | Bin 1206144 -> 1206144 bytes MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex | 24 +++++++-------- .../balance/series_legs/get_k_length.m | 4 +-- 6 files changed, 18 insertions(+), 43 deletions(-) diff --git a/.gitignore b/.gitignore index a7a9995..7f37bac 100644 --- a/.gitignore +++ b/.gitignore @@ -21,7 +21,7 @@ RTE/ Templates/ Examples/ - +底盘/ !*.uvprojx !*.h !*.c diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 928c9cf..290ccda 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -72,7 +72,7 @@ #define configTICK_RATE_HZ ((TickType_t)1000) #define configMAX_PRIORITIES ( 56 ) #define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)0x10000) +#define configTOTAL_HEAP_SIZE ((size_t)0x20000) #define configMAX_TASK_NAME_LEN ( 16 ) #define configGENERATE_RUN_TIME_STATS 1 #define configUSE_TRACE_FACILITY 1 diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx index 0e8157c..86282c7 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx @@ -158,37 +158,12 @@ 0 1 - L_length + chassis 1 1 - R_length - - - 2 - 1 - L_fn - - - 3 - 1 - R_fn - - - 4 - 1 - LF - - - 5 - 1 - RF - - - 6 - 1 - chassis + dr16 diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf index 4b47daaeac3ee3a2553ae15728ba00704a84cfb3..4f7746cf314dd7f58dbebec7059a458708305e5a 100644 GIT binary patch delta 465 zcmXw#KS)AR6vodz@0L%~^3_tC;M)wO)|OXVBDChv;y;QY2SX^DG9nrrYN*7)mVz9D z{t*`{3WAmzqAA-NB5G(zNF)gQUe>+$2lu<*`7Vc(zl-MYqH9Bf4?_de!{+NInEmCr zAPd_)Y|&IULReN!(s2E0=Bh^4RgIT|6&0+A6PJ_vDbRiC_$2jyBo_4mhqT0S{W*&w zOHbr|-bC{QqLErSjaT@%`EXOEGjYv=Rs2F|=wdmIqn)H>DTl}JoIKUK*wm~B(W4-e zTh12kInL^4PAXwLNjPH+XAe#|#cF+CK4g&1yvVl?!7H(93upxnpaUmxfi~a<9?%Xt zRIKVfI3Hw_d_)@dC_c7_VQT>$vo!`}Ps7$}TTeoJoApyots)ynQ14?i@mF`>Mue_S zf^X-(pu@=h`+hfcii^8t!;jW)%f|G$!KOsqV2zSVqMb=rk%qCKaY%9y<-J8AI8d|} R3|Z`*=u9EDI??$degGK7f?WUr delta 465 zcmXw#KS)AR6voea_m)~#K3i%Ne4ByP+VUz*gw`BdQXff>Lm?DRy@+UNsG*VuTMBXr z`iESoC0BcBOJ3TDO!7)xvr9VUFD^4QH6_KYVp{86zaNiecI~%gcsc*9umoD?Rgqa zraNf|e96WKM8nmHg;)5f0;tsXIp1i^YW$J~rdYPLWlNMSxt+t~cTS#(PBw&DCwgQe zx#MXP&*Q9a=cHoCNx>P_;2gk-q*-mu%ZDto*%$ft!Mu{FG=XN|0&d^|Eua;6K^tfX z9V$`r9bF8tK>;FxJA#j$WjLCl6OP7$oNYMTa&!jT*XW;YXcgPk!|q--l7D^otwfmG zAox!13p#?_zaR8Mr#Zi0(1RHLuAoni>1;^EbxlwzMYNY;6|3uqS(hLek?qSfYoWZk Rpv!#Egg=eg+Jygue*k~)gF65K diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex index 1a6a80f..d90befc 100644 --- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex +++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex @@ -1,5 +1,5 @@ :020000040800F2 -:10000000E896012405040008E9430108690701088E +:10000000E896022405040008E9430108690701088D :10001000E143010849410008898701080000000008 :10002000000000000000000000000000714A01080C :10003000595F000800000000314601089153010893 @@ -66,8 +66,8 @@ :1004000009FB00000A4880470A4880470A4800471D :10041000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B4 :10042000FEE7FEE705480649064A074B704700000D -:10043000895F000899540108CD020008E86601248C -:10044000E8960124E8760124E876012470B5064692 +:10043000895F000899540108CD020008E86602248B +:10044000E8960224E8760224E876022470B506468F :1004500000F02CFE056806F10B0020F00704B44202 :100460009CBF002070BD2B466A68BAB11068A042DC :1004700010D304F1080188423CBF5068586007D38C @@ -2684,8 +2684,8 @@ :10A7A000EA6737E705B0BDE8F08F00000000000061 :10A7B0000069084018BF0120704700000000000039 :10A7C000002A08BF090481617047000000000000F2 -:10A7D00045F6E070C2F201400068704700000000DA -:10A7E00040F2040045F6E071C2F20040C2F20141BD +:10A7D00045F6E070C2F202400068704700000000D9 +:10A7E00040F2040045F6E071C2F20040C2F20241BC :10A7F00000780A68104408607047000000000000FC :10A8000080B5032000F0ECF802F0A6FA44F21841FB :10A810004FF2D833C5F60201C0F601030A68096891 @@ -6954,7 +6954,7 @@ :10B270000041486840B1087801282AD000204FF0EA :10B28000000564BB9DE000BF45F6E070C2F20040DF :10B29000C21D10F0070322F00702A0EB020718BF3F -:10B2A00010464FF48032002B18BF07F58032002380 +:10B2A00010464FF40032002B18BF07F50032002380 :10B2B00088610244CB61083A22F007024A60C2E981 :10B2C0000033121A42604B680360C1E90222012078 :10B2D00008704FF00040002C4FF0000571D0204066 @@ -7090,10 +7090,10 @@ :10BAF0007FF48CAF86E700BF019C049A06EB020539 :10BB00003CB980E50026019C002C06EB02053FF4C1 :10BB10007AADFEF7F5F9206001F0FEFF284605B08A -:10BB2000BDE8F08F0000000046F2E413C2F20143CA -:10BB3000036045F6E470C2F20140086080201060A6 -:10BB4000704700000000000046F24463C2F2014367 -:10BB5000036046F24420C2F2014008604FF4807056 +:10BB2000BDE8F08F0000000046F2E413C2F20243C9 +:10BB3000036045F6E470C2F20240086080201060A5 +:10BB4000704700000000000046F24463C2F2024366 +:10BB5000036046F24420C2F2024008604FF4807055 :10BB6000106070470000000002464FF0FF3142F8BD :10BB7000081F00214260C0E90322016070470000F5 :10BB8000002101617047000010B5D1F800C01CF120 @@ -7137,7 +7137,7 @@ :10BDE000BFF36F8FBFF34F8FFEE700BF4EF60C51CE :10BDF000CEF200010968406801F4E061814298BF19 :10BE000070474FF0500080F31188BFF36F8FBFF37E -:10BE10004F8F00BFFEE7000046F2A46CC2F2014C57 +:10BE10004F8F00BFFEE7000046F2A46CC2F2024C56 :10BE2000DCF8002022B3634653F8082F42B3634680 :10BE300053F8102F52B3634653F8182F62B363467A :10BE400053F8202F72B3634653F8282F82B363460A @@ -8195,7 +8195,7 @@ :020000040802F0 :1000000091AC010800000000380102080000002443 :10001000C01000000803000898030208C010002464 -:10002000288601006403000810010000430000005E +:10002000288602006403000810010000430000005D :10003000F8FFFFFF00404040404040404040414109 :1000400041414140404040404040404040404040AD :100050004040404040050202020202020202020247 diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m index e55e912..1237a19 100644 --- a/utils/Simulation-master/balance/series_legs/get_k_length.m +++ b/utils/Simulation-master/balance/series_legs/get_k_length.m @@ -48,8 +48,8 @@ function K = get_k_length(leg_length) B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]); B=double(B); - Q=diag([1 1 20 5 50 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1 - R=[1.2 0;0 0.25]; %T Tp + Q=diag([1 1 20 5 200 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1 + R=[1.5 0;0 0.25]; %T Tp K=lqr(A,B,Q,R);