From 476268298a665b4d60ed95466847d4631fb8af53 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 1 Oct 2025 02:35:44 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=B0=84=E9=80=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/module/shoot.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/User/module/shoot.c b/User/module/shoot.c index 4ac4ed2..8cee167 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -116,7 +116,7 @@ int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd) for(int i=0;i计算修正输出->加和、滤波、输出 */ // c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],c->target_variable.target_rpm/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt); - c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],300.0f/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt); + c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],3000.0f/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt); c->output.out_err[i]=PID_Calc(&c->pid.fric_err[i],c->feedback.fric_avgrpm,c->feedback.fric_rpm[i],0,c->dt); ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);