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好用的云台pid

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Robofish 2025-10-02 17:25:47 +08:00
parent f641fe4051
commit 555e6e3747
2 changed files with 2 additions and 2 deletions
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2
User/module/config.c
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@ -131,7 +131,7 @@ Config_RobotParam_t robot_config = {
.range = -1.0f, .range = -1.0f,
}, },
.pit_angle = { .pit_angle = {
.k = 2.0f, .k = 5.0f,
.p = 5.0f, .p = 5.0f,
.i = 2.5f, .i = 2.5f,
.d = 0.0f, .d = 0.0f,

2
User/module/gimbal.c
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@ -239,7 +239,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
void Gimbal_Output(Gimbal_t *g){ void Gimbal_Output(Gimbal_t *g){
MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit); MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
MOTOR_MIT_Output_t output = {0}; MOTOR_MIT_Output_t output = {0};
output.torque = g->out.yaw * 6.0f; // 乘以减速比 output.torque = g->out.yaw * 5.0f; // 乘以减速比
output.kd = 0.5f; output.kd = 0.5f;
MOTOR_RM_Ctrl(&g->param->pit_motor); MOTOR_RM_Ctrl(&g->param->pit_motor);
MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output); MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);