robofish/rm_balance
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修改射速

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Robofish 2025-10-01 02:35:44 +08:00
parent 5d310fb707
commit 476268298a
1 changed files with 1 additions and 1 deletions
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2
User/module/shoot.c
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@ -116,7 +116,7 @@ int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd)
for(int i=0;i<SHOOT_FRIC_NUM;i++) for(int i=0;i<SHOOT_FRIC_NUM;i++)
{ /* 计算跟随输出->计算修正输出->加和、滤波、输出 */ { /* 计算跟随输出->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],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); 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]); ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);