power regulation restored

RoboMaster-Club · Jun 15, 2024 · daf810b · daf810b
1 parent 637e7b4
commit daf810b
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Showing 4 changed files with 8 additions and 6 deletions.
diff --git a/src/algo/src/Swerve_Locomotion.c b/src/algo/src/Swerve_Locomotion.c
@@ -244,7 +244,7 @@ void Swerve_Drive(float x, float y, float omega)
             {
                 __MOVING_AVERAGE(g_robot_state.chassis_power_buffer,g_robot_state.chassis_power_index,
                 Referee_Robot_State.Chassis_Power,g_robot_state.chassis_power_count,g_robot_state.chassis_total_power,g_robot_state.chassis_avg_power);
-                if(g_robot_state.chassis_avg_power < (Referee_Robot_State.Chassis_Power_Max*(0.9f-Referee_Robot_State.Level*0.2f)))
+                if(g_robot_state.chassis_avg_power < (Referee_Robot_State.Chassis_Power_Max*(0.7f)))
                     g_robot_state.power_increment_ratio += 0.001f;
                 else
                     g_robot_state.power_increment_ratio -= 0.001f;

diff --git a/src/app/src/motor_task.c b/src/app/src/motor_task.c
@@ -7,7 +7,7 @@
 extern Supercap_t g_supercap;
 
 void Motor_Task_Loop() {
-    // DJI_Motor_Send();
+    DJI_Motor_Send();
     // MF_Motor_Send();
     // DM_Motor_Send();
 

diff --git a/src/app/src/ui_task.c b/src/app/src/ui_task.c
@@ -1,4 +1,5 @@
 #include "ui_task.h"
+#include "supercap.h"
 
 void UI_Task_Loop(void)
 {
@@ -45,10 +46,9 @@ void UI_Task_Loop(void)
         ui_indicator_1_Aim_H_Line->color = 3;
         ui_indicator_1_Aim_V_Line->color = 3;
     }
-    if (ui_indicator_1_Supercap->number>=99)
-    {
-        ui_indicator_1_Supercap->number = 0;
-    }
+
+    ui_indicator_1_Supercap->number = g_supercap.supercap_percent;
+
     if(Referee_System.Online_Flag)
     {
         ui_indicator_1_Level_Indicator->number = Referee_Robot_State.Level;

diff --git a/src/devices/inc/supercap.h b/src/devices/inc/supercap.h
@@ -19,4 +19,6 @@ void Supercap_Init(Supercap_t *g_supercap);
 void Supercap_Decode(CAN_Instance_t *can_instance);
 void Supercap_Send(void);
 
+extern Supercap_t g_supercap;
+
 #endif // __SUPERCAP_H