From 18f1d1afd16ae159b9f20cef640a594c848ad249 Mon Sep 17 00:00:00 2001 From: yincheng.zhong <634916154@qq.com> Date: 星期五, 05 十二月 2025 14:39:02 +0800 Subject: [PATCH] 校准完成，准备修改一下运动控制算法，转向的时候有直行分量，保存一版 --- STM32H743/FML/motion_config.h | 20 ++++++++++---------- 1 files changed, 10 insertions(+), 10 deletions(-) diff --git a/STM32H743/FML/motion_config.h b/STM32H743/FML/motion_config.h index f97f340..2af1cd2 100644 --- a/STM32H743/FML/motion_config.h +++ b/STM32H743/FML/motion_config.h @@ -34,31 +34,31 @@ #define MC_CFG_XTRACK_SPEED_SCALE (0.40f) /* GGA 鍘熺偣缁忕含楂橈紙deg/m锛夛紝渚� ENU 杞崲浣跨敤 */ -#define MC_CFG_ORIGIN_LAT_DEG (39.831867) -#define MC_CFG_ORIGIN_LON_DEG (116.280907) -#define MC_CFG_ORIGIN_ALT_M (47.500) +#define MC_CFG_ORIGIN_LAT_DEG (39.831706) +#define MC_CFG_ORIGIN_LON_DEG (116.279282) +#define MC_CFG_ORIGIN_ALT_M (4) /* PWM 涓�间笌 span锛岀敤浜� forward/turn 鈫� 鑴夊鏄犲皠 */ #define MC_CFG_PWM_CENTER_US (1500U) #define MC_CFG_PWM_SPAN_US (500U) /******************************************************************************* - * 鏍″噯鍙傛暟锛堝熀浜庡疄娴嬫暟鎹紝鏃ユ湡锛�2025-12-04锛� + * 鏍″噯鍙傛暟锛堝熀浜庡疄娴嬫暟鎹紝鏃ユ湡锛�2025-12-05锛� * 鍓嶅悜閫熷害妯″瀷锛歷 = MC_CFG_FORWARD_K 脳 (1500 - pwm) + MC_CFG_FORWARD_BIAS * 璇存槑锛�1000 PWM = 鏈�澶у墠杩涳紝1500 PWM = 鍋滄锛�2000 PWM = 鏈�澶у悗閫� *******************************************************************************/ -#define MC_CFG_FORWARD_K (0.001362f) // 閫熷害绯绘暟 (m/s per PWM) -#define MC_CFG_FORWARD_BIAS (-0.0325f) // 閫熷害鍋忕疆 (m/s) -#define MC_CFG_FORWARD_DEADZONE_PWM (30) // 鍓嶈繘姝诲尯闃堝�� +#define MC_CFG_FORWARD_K (0.00196f) // 閫熷害绯绘暟 (m/s per PWM) +#define MC_CFG_FORWARD_BIAS (-0.077f) // 閫熷害鍋忕疆 (m/s) +#define MC_CFG_FORWARD_DEADZONE_PWM (40) // 鍓嶈繘姝诲尯闃堝�� /* 杞悜瑙掗�熷害妯″瀷锛毾� = MC_CFG_STEERING_K 脳 (1500 - pwm) for left/right */ -#define MC_CFG_STEERING_K_LEFT (0.00010f) // 宸﹁浆绯绘暟 (rad/s per PWM) -#define MC_CFG_STEERING_K_RIGHT (0.00010f) // 鍙宠浆绯绘暟 (rad/s per PWM) +#define MC_CFG_STEERING_K_LEFT (0.00206f) // 宸﹁浆绯绘暟 (deg/s per PWM, 1000 PWM -> 1033 LSB -> ~63 deg/s) +#define MC_CFG_STEERING_K_RIGHT (0.00201f) // 鍙宠浆绯绘暟 (deg/s per PWM, 2000 PWM -> 1008 LSB -> ~61.5 deg/s) #define MC_CFG_STEERING_TRIM (10) // 杞悜琛ュ伩鍊硷紙淇宸﹀亸锛� /* 鍩轰簬鏍″噯鏁版嵁鏇存柊閫熷害闄愬埗 */ #undef MC_CFG_MAX_FORWARD_MPS -#define MC_CFG_MAX_FORWARD_MPS (0.65f) // 瀹炴祴鏈�澶у墠杩涢�熷害 (1000 PWM) +#define MC_CFG_MAX_FORWARD_MPS (0.56f) // 瀹炴祴鏈�澶у墠杩涢�熷害 (1000 PWM) #endif /* FML_MOTION_CONFIG_H */ -- Gitblit v1.10.0