robofish/rm_balance
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base: robofish:938115adff5e969ee656e1941d4b90c223a83546
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robofish:main
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
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compare: robofish:f641fe4051597e9eedbe113f34bdae0a1f8e8384
Branches Tags
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
robofish:main

No commits in common. "938115adff5e969ee656e1941d4b90c223a83546" and "f641fe4051597e9eedbe113f34bdae0a1f8e8384" have entirely different histories.
938115adff ... f641fe4051

2 changed files with 6 additions and 6 deletions
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10
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 = 5.0f, .k = 2.0f,
.p = 5.0f, .p = 5.0f,
.i = 2.5f, .i = 2.5f,
.d = 0.0f, .d = 0.0f,
@ -171,10 +171,10 @@ Config_RobotParam_t robot_config = {
.rc_can_param = { .rc_can_param = {
.can = BSP_CAN_1, .can = BSP_CAN_1,
.mode = RC_CAN_MODE_MASTER, .mode = RC_CAN_MODE_MASTER,
.joy_id = 0x30, .joy_id = 0x250,
.sw_id = 0x31, .sw_id = 0x251,
.mouse_id = 0x32, .mouse_id = 0x252,
.keyboard_id = 0x33, .keyboard_id = 0x253,
}, },
}; };

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 * 5.0f; // 乘以减速比 output.torque = g->out.yaw * 6.0f; // 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);