final commit

RoboMaster-Club · Mar 24, 2024 · 7212746 · 7212746
1 parent 9ee01c1
commit 7212746
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/src/app/src/gimbal_task.c b/src/app/src/gimbal_task.c
@@ -124,6 +124,8 @@ void Gimbal_Ctrl_Loop()
             g_pitch->angle_pid->kd = 400.0f;
             g_pitch->velocity_pid->kp = 4500.0f;
             g_pitch->velocity_pid->ki = 0.8f;
+            DJI_Motor_Set_Angle(g_pitch, g_robot_state.gimbal_pitch_angle - 12.5f / 180.0f * PI);
+            DJI_Motor_Set_Angle(g_yaw, g_robot_state.gimbal_yaw_angle - 2.0f / 180.0f * PI);
         } else {
             g_yaw->angle_pid->kp = 20.0f;
             g_yaw->angle_pid->kd = 150.0f;
@@ -133,9 +135,10 @@ void Gimbal_Ctrl_Loop()
             g_pitch->angle_pid->kd = 400.0f;
             g_pitch->velocity_pid->kp = 4500.0f;
             g_pitch->velocity_pid->ki = 0.8f;
+            DJI_Motor_Set_Angle(g_pitch, g_robot_state.gimbal_pitch_angle);
+            DJI_Motor_Set_Angle(g_yaw, g_robot_state.gimbal_yaw_angle);
         }
-        DJI_Motor_Set_Angle(g_pitch, g_robot_state.gimbal_pitch_angle);
-        DJI_Motor_Set_Angle(g_yaw, g_robot_state.gimbal_yaw_angle);
+
     }
     else
     {

diff --git a/src/app/src/robot.c b/src/app/src/robot.c
@@ -16,9 +16,9 @@ extern DJI_Motor_Handle_t *g_yaw;
 #define SPIN_TOP_OMEGA (1.0f)
 
 #define KEYBOARD_RAMP_COEF (0.004f)
-#define SPINTOP_COEF (0.005f)
+#define SPINTOP_COEF (0.003f)
 #define CONTROLLER_RAMP_COEF (0.8f)
-#define MAX_SPEED (.8f)
+#define MAX_SPEED (.6f)
 
 Robot_State_t g_robot_state = {0, 0};
 Key_Prev_t g_key_prev = {0};
@@ -184,7 +184,7 @@ void Robot_Cmd_Loop()
 
             /* Hardware Limits */
             g_robot_state.gimbal_yaw_angle = fmod(g_robot_state.gimbal_yaw_angle, 2 * PI);
-            __MAX_LIMIT(g_robot_state.gimbal_pitch_angle, -0.2f, 0.2f);
+            __MAX_LIMIT(g_robot_state.gimbal_pitch_angle, -0.4f, 0.4f);
             __MAX_LIMIT(g_robot_state.chassis_x_speed, -MAX_SPEED, MAX_SPEED);
             __MAX_LIMIT(g_robot_state.chassis_y_speed, -MAX_SPEED, MAX_SPEED);