robofish/rm_balance
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改完bug

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Robofish 2025-10-01 18:50:38 +08:00
parent fbeb29513d
commit d0727de06f
2 changed files with 7 additions and 16 deletions
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2
User/module/config.c
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@ -141,7 +141,7 @@ Config_RobotParam_t robot_config = {
.gyro = 1000.0f,
},
.pit_motor ={
.can = BSP_CAN_1,
.can = BSP_CAN_2,
.id = 0x206,
.gear = false,
.module = MOTOR_GM6020,

21
User/module/gimbal.c
View File

@ -209,25 +209,16 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
break;
case GIMBAL_MODE_ABSOLUTE:
// yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
// g->feedback.imu.eulr.yaw, 0.0f, g->dt);
// g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
// g->feedback.imu.gyro.z, 0.f, g->dt);
// pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
// g->feedback.imu.eulr.rol, 0.0f, g->dt);
// g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
// g->feedback.imu.gyro.y, 0.f, g->dt);
// yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
// g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
// g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
// g->feedback.imu.gyro.z, 0.f, g->dt);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
g->feedback.imu.gyro.z, 0.f, g->dt);
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
g->feedback.imu.eulr.rol, 0.0f, g->dt);
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
g->feedback.imu.gyro.y, 0.f, g->dt);
// g->out.pit = sinf(g->lask_wakeup/300000.0f);
break;