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development-board-c-examples's Issues

云台角度环PID计算中的error_delta符号貌似反了

这两处的gimbal_motor->motor_gyro是云台对应轴的角速度，传到函数gimbal_PID_calc中作为参数error_delta的值：

Development-Board-C-Examples/19.gimbal_task/application/gimbal_task.c

Line 1003 in 59d12b1

 gimbal_motor->motor_gyro_set = gimbal_PID_calc(&gimbal_motor->gimbal_motor_absolute_angle_pid, gimbal_motor->absolute_angle, gimbal_motor->absolute_angle_set, gimbal_motor->motor_gyro); 

Development-Board-C-Examples/19.gimbal_task/application/gimbal_task.c

Line 1026 in 59d12b1

 gimbal_motor->motor_gyro_set = gimbal_PID_calc(&gimbal_motor->gimbal_motor_relative_angle_pid, gimbal_motor->relative_angle, gimbal_motor->relative_angle_set, gimbal_motor->motor_gyro); 

但是在gimbal_PID_calc中error_delta是误差的变化量，其符号应该和角速度的符号相反：

Development-Board-C-Examples/19.gimbal_task/application/gimbal_task.c

Lines 1117 to 1119 in 59d12b1

 pid->Dout = pid->kd * error_delta; 

 abs_limit(&pid->Iout, pid->max_iout); 

 pid->out = pid->Pout + pid->Iout + pid->Dout;

所以gimbal_motor->motor_gyro应为-gimbal_motor->motor_gyro。

The problem about Buzzer Example

About the Buzzer Problem of the RoBomaster C Board Hello After our actual testing the Buzzer example in the C Board Example is problematic. If the buzzer will have a noticeable stuttering sound according to the delay code (delay(10)) in the example, but if you set the delay above 100, the problem will disappear, please verify, thank you.

buzzer_on(psc, pwm); HAL_Delay(1);

It will work by this change
buzzer_on(psc, pwm); HAL_Delay(100);

robomaster / development-board-c-examples Goto Github PK

development-board-c-examples's People

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development-board-c-examples's Issues

云台角度环PID计算中的error_delta符号貌似反了

The problem about Buzzer Example

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	pid->Dout = pid->kd * error_delta;
	abs_limit(&pid->Iout, pid->max_iout);
	pid->out = pid->Pout + pid->Iout + pid->Dout;