robomaster / roborts-firmware Goto Github PK

Why its architecture is so complicated?
Can you tell me the design philosophy?
Thanks a lot!

Hello. I met a problem during my development. I saw the data of imu, and I found that the data of yaw of imu is always changing bigger. But the data of pitch and rol is stable. I wonder did other team met this problem either. Is this a bug or just we made any mistake. Looking forward for your reply. Thanks.

I have trid to drive the car with RoboRTS-Firmware,but I failed anyway.now,I have recovered the macro definition of “#define AUTO_NAVIGATION” in sys_config.h ,and I found in function "can_msg_send_task" ,"send_chassis_motor_ctrl_message(glb_cur.chassis_cur)" has been executed successed when the value of glb_cur.chassis_cur are not zero and can be changed by remote control , but four mecanum wheels just won't move.I have checked several documents about this,but I didn't found any solution，is there anything I need to do or something maybe I forgot?
I know it might be a stupid question，but I really don't know what to do now,any suggestion would be appreciated,thanks in advanced.

In the line 69 of gimbal.c , the initiation of outer pid uses the inter pid parameters.

The organizing committee is requested to officially open the iCMP configuration file of the STM32-CubeMX of the project. It is easy for developers to upgrade and improve themselves.

robomasterC型开发板的型号是407，而Firmware中给的程序型号是427，当device中芯片型号改成407后会报错，请问怎么解决？初此参赛，请多指教

hello, @KevinLADLee @robomasterbot ,I bought the infantry car in 2018.1 which used the old version board,but the RoboRTS-Firmware is based on the new type board(Type A). I have compared the schematics,there were some differences between them ,the main different was the IMU,can new firmware work in old version board? Do you have the firmware based on old version board?

I used the A type board and old car ,but the car can't move,I debug the code it stop in port.c line 311(svc 0),if I use the A type board with the old car,are there anywhere need to change in the code?

We are trying to communicate between the STM32 and TX2. We found out that the protocol in RoboRTS-Firmware documentation is 1.3, but the one on master and dev branches are still 1.0. Can it just work out-of-the-box? Or how do we make modifications?

Hello there. This is a really nice code. However, I met a issue about gimbal calibration. I followed the
four steps in 'Gimbal calibration method' which was mentioned in the 'readme.txt' , first , I turned the remote control levers to gimbal disabled position and infantry powered on , and I ran the program , the codes ran into the function called 'no_cali_data_handle()', then goes into the gimbal_cali_msg_hook() , but it never goes into' if ((last_type == GIMBAL_CALI_START) && (cur_type == GIMBAL_CALI_END))' branches. How can I set up these two types? And I cannot find a variable called cali_param.Gimbal.cali_cmd, just found cali_param_data.cali_cmd , and I set it to 1, It returned nothing , and every variables were 0xFF. So I cannot calibration my gimbal motors correctly. By the way , I uses 6623 motors as gimbal motors. I'm looking forward for your reply. Thanks.

载入程序后板子响了8声，陀螺仪离线，但是连接上萝马集市的九轴陀螺仪后还是会响。是因为陀螺仪不对吗？

Hello. I met a problem during my development.
I want to control the shooting device use api porvide by RoboRTS
there some difference between RoboRTS and RoboRTS-Firmware on the fric_wheel_spd
in RoboRTS. range is 1-100
in RoboRTS-Firmware,range is 1000-2000
when i set fric_wheel_spd = 1, is ok the wheel run well, but when i set "fric_wheel_spd" more then one , the wheel did not run, is there a shoot control sample or is there some wrong with the RoboRTS-Firmware

Hello. I met a problem during my development. I calibrated two motors of the gimbal, and they made a success initial and both of them back to the center. However, the motors will become dramatic shaking after about five minutes power off, at this moment if we restart the power quickly, the gimbal will back to normal and we can take a good control of it. Is this a bug or just we made any mistake. Some other teams said they met the same problem when we communicate with each other. Looking forward for your reply. Thanks.

Breakpoint and watch window do not really work, may I know what is a typical way to debug a rtos program? Thx

Sorry to raise such seemingly stupid question. However, we have read the code from freertos.c, remote_ctrl.c to chassis_task.c, we still couldn't find the way to control the motor by remote. And we also find code in chassis_task.c never runs, which obsesses me a lot. Still waiting for help...

当我把程序下进去后，开始提示云台电机（Y或P轴电机）离线，当我用其他程序时，云台电机是能正常工作的，说明云台通信良好，请问想这是什么原因？感谢