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1423 @@ -1772,7 +1772,7 @@ Build 672 - 00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E00000000000000000000000000000000010000000100000001809E8A0000000000001F0000000000000000000000000000000001000000010000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000057A7A7A7A6896000000000000000100057A7A7A7A68000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64CF010000 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583 @@ -1788,7 +1788,7 @@ Debug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898 @@ -1812,38 +1812,38 @@ 0 100 - 3 + 1 ..\User\module\chassis.c - 0 - 268 - 300 + 81 + 196 + 229 1 0 ..\User\module\config.c - 0 - 77 - 108 + 26 + 63 + 91 1 0 ..\User\module\chassis.h - 1 - 1 - 233 + 23 + 169 + 192 1 0 ..\User\task\test.c - 87 - 30 + 35 + 28 51 1 @@ -1860,9 +1860,9 @@ ..\User\task\init.c - 50 - 14 - 45 + 24 + 12 + 42 1 0 @@ -1879,7 +1879,7 @@ ..\User\task\user_task.h 17 - 25 + 44 45 1 @@ -1906,12 +1906,30 @@ ..\User\task\yaokongqi.c 48 - 37 + 35 68 1 0 + + ..\User\component\pid.h + 20 + 28 + 49 + 1 + + 0 + + + ..\User\component\pid.c + 21 + 55 + 61 + 1 + + 0 + diff --git a/MDK-ARM/zzzzh/chassis.o b/MDK-ARM/zzzzh/chassis.o index 94cab8a..c425950 100644 Binary files a/MDK-ARM/zzzzh/chassis.o and b/MDK-ARM/zzzzh/chassis.o differ diff --git a/MDK-ARM/zzzzh/config.o b/MDK-ARM/zzzzh/config.o index 169e058..c36a25c 100644 Binary files a/MDK-ARM/zzzzh/config.o and b/MDK-ARM/zzzzh/config.o differ diff --git a/MDK-ARM/zzzzh/zzzzh.axf b/MDK-ARM/zzzzh/zzzzh.axf index f47a4c8..a06d953 100644 Binary files a/MDK-ARM/zzzzh/zzzzh.axf and b/MDK-ARM/zzzzh/zzzzh.axf differ diff --git a/MDK-ARM/zzzzh/zzzzh.build_log.htm b/MDK-ARM/zzzzh/zzzzh.build_log.htm index 8674273..8353851 100644 --- a/MDK-ARM/zzzzh/zzzzh.build_log.htm +++ b/MDK-ARM/zzzzh/zzzzh.build_log.htm @@ -27,10 +27,6 @@ Project File Date: 10/28/2025

Output:

*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin' Build target 'zzzzh' -compiling test.c... -linking... -Program Size: Code=37444 RO-data=688 RW-data=156 ZI-data=24380 -FromELF: creating hex file... "zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -54,7 +50,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE:5.0.1 -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/zzzzh/zzzzh.hex b/MDK-ARM/zzzzh/zzzzh.hex index c28f108..8977e80 100644 --- a/MDK-ARM/zzzzh/zzzzh.hex +++ b/MDK-ARM/zzzzh/zzzzh.hex @@ -2386,11 +2386,11 @@ :10950000000000000000000001000000100000004A :10951000000000000024F40000000102010001002E :10952000000002020100010000000302010001002E -:1095300000000402010001006F12833A0AD7233CA5 -:109540000AD7233C000000000000803F0000803F5D +:1095300000000402010001006F12833A0000803F26 +:1095400000000000000000000000803F0000803F9D :10955000000080BF000080BF0000003F0000803F8F :1095600000000000000000000000803F0000803F7D -:10957000000080BFDB0FC94004000000000048422B +:10957000000080BFDB0FC94000000000000048422F :109580000000484201000000000040400000404050 :109590000000004000007A46AAAAAAAA0000000023 :040000050800018965 diff --git a/MDK-ARM/zzzzh/zzzzh.htm b/MDK-ARM/zzzzh/zzzzh.htm index b13caf0..3c3b7f3 100644 --- a/MDK-ARM/zzzzh/zzzzh.htm +++ b/MDK-ARM/zzzzh/zzzzh.htm @@ -3,7 +3,7 @@ Static Call Graph - [zzzzh\zzzzh.axf]

Static Call Graph for image zzzzh\zzzzh.axf

-

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Tue Oct 28 22:00:46 2025 +

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Sat Nov 1 21:17:55 2025

Maximum Stack Usage = 288 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep index 301907e..8320d1c 100644 --- a/MDK-ARM/zzzzh/zzzzh_zzzzh.dep +++ b/MDK-ARM/zzzzh/zzzzh_zzzzh.dep @@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (..\User\task\user_task.h)(0x6900CBEC) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\User\bsp\bsp.h)(0x68EE5C62) @@ -1963,10 +1963,10 @@ I (D:\keil\ARM\ARMCLANG\include\stdbool.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2) -F (..\User\module\config.c)(0x6900C8BE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD) +F (..\User\module\config.c)(0x69060879)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD) I (..\User\module\config.h)(0x68DCDCE8) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) I (..\User\bsp\can.h)(0x68EE5C62) @@ -2025,7 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -F (..\User\module\chassis.c)(0x6900CBEC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) +F (..\User\module\chassis.c)(0x6901FB4E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2) @@ -2083,7 +2083,7 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\component\filter.h)(0x68EE5C62) I (..\User\component\mixer.h)(0x68EE5C62) I (..\User\component\pid.h)(0x68EE5C62) @@ -2102,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2166,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2214,7 +2214,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62) I (..\User\device\motor_rm.h)(0x68EE5C18) I (..\User\device\motor.h)(0x68EE5C18) I (..\User\device\device.h)(0x68EE5C63) -F (..\User\task\test.c)(0x6900CC8C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD) +F (..\User\task\test.c)(0x6901FB4E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/test.o -MD) I (..\User\task\user_task.h)(0x6900CBEC) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59) I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2) @@ -2229,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) @@ -2293,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59) I (..\User\module\config.h)(0x68DCDCE8) -I (..\User\module\chassis.h)(0x6900CBEC) +I (..\User\module\chassis.h)(0x6901FB4E) I (..\User\bsp\can.h)(0x68EE5C62) I (..\Core\Inc\can.h)(0x68EE5A24) I (..\Core\Inc\main.h)(0x68EE5A28) diff --git a/User/module/chassis.c b/User/module/chassis.c index 37ac26e..082d908 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -149,7 +149,6 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param, */ int8_t Chassis_UpdateFeedback(Chassis_t *c) { - //¸üÐÂËùÓеç»ú·´À¡ for (uint8_t i = 0; i < c->num_wheel; i++) { MOTOR_RM_Update(&(c->param->motor_param[i])); diff --git a/User/module/config.c b/User/module/config.c index de91526..f02f84f 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -19,8 +19,8 @@ /* Exported variables ------------------------------------------------------- */ Config_RobotParam_t robot_config = { - .chassis_param = { - /* ??3508???? */ +.chassis_param = { + /* DJI3508µç»ú*/ .motor_param = { { .can = BSP_CAN_1, @@ -51,14 +51,14 @@ Config_RobotParam_t robot_config = { .gear = true }, }, - .type = CHASSIS_TYPE_OMNI_PLUS, - /* PID ?? */ + .type = CHASSIS_TYPE_MECANUM, + /* PID */ .pid = { - /* ????/??? PID */ + /* µ×Å̵ç»ú PID */ .motor_pid_param = { .k = 0.001f, - .p = 0.01f, - .i = 0.01f, + .p = 1.0f, + .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, @@ -66,7 +66,7 @@ Config_RobotParam_t robot_config = { .range = -1.0f, }, - /* ?????????? */ + /* ¸úËæ */ .follow_pid_param = { .k = 0.5f, .p = 1.0f, @@ -79,21 +79,19 @@ Config_RobotParam_t robot_config = { }, }, - /* ??/?????? */ .low_pass_cutoff_freq = { .in = 50.0f, .out = 50.0f, }, - /* ???? */ .reverse = { .yaw = true, }, .limit = { - .max_vx = 3.0f, // ????????????? + .max_vx = 3.0f, .max_vy = 3.0f, - .max_wz = 2.0f, // rad/s ??? - .max_current = 16000.0f // ???????????(DJI ?? ±16384) + .max_wz = 2.0f, + .max_current = 16000.0f }, }, };