From 9046555dc896538a01175219d3fe49b8b44f32d2 Mon Sep 17 00:00:00 2001
From: Xiaocheng <2544262366@qq.com>
Date: Wed, 14 Jan 2026 17:57:03 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E8=87=AA=E5=8A=A8=E6=92=AD?=
 =?UTF-8?q?=E5=BC=B9?=
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---
 User/module/config.c  | 34 ++++++++++++++++++++++++++--------
 User/task/ai.c        |  1 +
 User/task/init.c      |  3 ++-
 User/task/shoot.c     | 38 +++++++++++++++++++-------------------
 User/task/user_task.h |  7 ++++++-
 5 files changed, 54 insertions(+), 29 deletions(-)

diff --git a/User/module/config.c b/User/module/config.c
index fbf5c16..3ccd029 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -165,10 +165,19 @@ static const Config_Param_t config = {
             // .d_cutoff_freq = 0.0f, 
             // .range = M_2PI
             /*上面一组pid会导致电机超调，可能是因为pid计算错误，正在进行重新修改pid*/
+            // .k = 2.0f, 
+            // .p = 5.0f, 
+            // .i = 0.0f, 
+            // .d = 0.0f, 
+            // .i_limit = 1.0f, 
+            // .out_limit = 10.0f, 
+            // .d_cutoff_freq = 0.0f, 
+            // .range = M_2PI
+
             .k = 2.0f, 
-            .p = 5.0f, 
-            .i = 0.0f, 
-            .d = 0.0f, 
+            .p = 7.0f, 
+            .i = 0.5f, 
+            .d = 1.0f, 
             .i_limit = 1.0f, 
             .out_limit = 10.0f, 
             .d_cutoff_freq = 0.0f, 
@@ -185,8 +194,17 @@ static const Config_Param_t config = {
             // .d_cutoff_freq = -1.0f, 
             // .range = -1.0f
 
+            // .k = 0.35f, 
+            // .p = 0.3f, 
+            // .i = 0.0f, 
+            // .d = 0.0f, 
+            // .i_limit = 1.0f, 
+            // .out_limit = 1.0f, 
+            // .d_cutoff_freq = -1.0f, 
+            // .range = -1.0f
+
             .k = 0.35f, 
-            .p = 0.3f, 
+            .p = 0.35f, 
             .i = 0.0f, 
             .d = 0.0f, 
             .i_limit = 1.0f, 
@@ -222,8 +240,8 @@ static const Config_Param_t config = {
               .basic.extra_deceleration_ratio = 1,
               .basic.ratio_multilevel[0] = 1.0f,
               .basic.num_trig_tooth = 8,
-              .basic.shot_freq = 20.0f,
-              .basic.shot_burst_num = 5,
+              .basic.shot_freq = 5.0f,
+              .basic.shot_burst_num = 1,
 
               .jamDetection.enable = true,
               .jamDetection.threshold = 120.0f,
@@ -253,8 +271,8 @@ static const Config_Param_t config = {
                 },
 
                 .trig_2006={
-                .k=0.5f,
-                .p=0.5f,
+                .k=0.7f,
+                .p=0.7f,
                 .i=0.5f,
                 .d=0.05f,
                 .i_limit=0.2f,
diff --git a/User/task/ai.c b/User/task/ai.c
index 545cef9..ad2b09e 100644
--- a/User/task/ai.c
+++ b/User/task/ai.c
@@ -49,6 +49,7 @@ void Task_ai(void *argument) {
 		AI_Get_NUC(&ai,&ai_cmd);		
     osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
     osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);	
+    osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_cmd, 0, 0);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/User/task/init.c b/User/task/init.c
index b702be9..d1d8b48 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -54,7 +54,8 @@ void Task_Init(void *argument) {
   task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
   task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
   task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
-
+  task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
+   
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核
diff --git a/User/task/shoot.c b/User/task/shoot.c
index 1b0b648..6c1b42f 100644
--- a/User/task/shoot.c
+++ b/User/task/shoot.c
@@ -44,28 +44,28 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
+osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
   
-if(shoot_cmd.control_mode==SHOOT_REMOTE)
-{
-  //do nothing，使用遥控器的指令
-}
-else if(shoot_cmd.control_mode==SHOOT_AI)
-{
-  shoot_cmd.mode = SHOOT_MODE_SINGLE;
-if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
-{
-  shoot_cmd.firecmd=false;
-  shoot_cmd.ready=true;
+// if(shoot_cmd.control_mode==SHOOT_REMOTE)
+// {
+//   //do nothing，使用遥控器的指令
+// }
+// else if(shoot_cmd.control_mode==SHOOT_AI)
+// {
+//   shoot_cmd.mode = SHOOT_MODE_SINGLE;
+// if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
+// {
+//   shoot_cmd.firecmd=false;
+//   shoot_cmd.ready=true;
 
-}
-else if(shoot_ai_cmd.mode==2)
-{
+// }
+// else if(shoot_ai_cmd.mode==2)
+// {
   
-  shoot_cmd.firecmd=true;
-  shoot_cmd.ready=true;
-}
-  }
+//   shoot_cmd.firecmd=true;
+//   shoot_cmd.ready=true;
+// }
+//   }
 
     Shoot_UpdateFeedback(&shoot);
     Shoot_SetMode(&shoot,shoot_cmd.mode);
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 3e33264..f406673 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -91,13 +91,18 @@ typedef struct {
                osMessageQueueId_t quat;                  
                 osMessageQueueId_t feedback;
                 osMessageQueueId_t g_cmd;
+                
                 }ai;
                  /* 新增的 ai 消息队列 主要是给自瞄*/
             } gimbal;
 
             struct 
             {
-                osMessageQueueId_t cmd; 
+                osMessageQueueId_t cmd;   
+            struct{
+
+                osMessageQueueId_t s_cmd;
+                }ai;
             }shoot;
 
         } msgq;