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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:
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
gimbal_motor->motor_gyro
应为-gimbal_motor->motor_gyro
。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);
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