cyy/origincar_controller
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修正默认偏转角

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cyy_mac
2026-08-07 20:13:49 +08:00
parent 78d155c7b6
commit 576784bb4d
5 changed files with 13 additions and 7 deletions
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2
BALANCE/balance.c
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@@ -233,7 +233,7 @@ void Balance_task(void *pvParameters)
}
//If Turn_Off(Voltage) returns to 1, the car is not allowed to move, and the PWM value is set to 0
//如果Turn_Off(Voltage)返回值为1，不允许控制小车进行运动，PWM值设置为0
else Set_Pwm(0,0,0,0,0);
else Set_Pwm(0,0,0,0,(Car_Mode == Akm_Car) ? SERVO_INIT : 0);
}
}
}

2
BALANCE/system.c
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@@ -15,7 +15,7 @@ u8 Car_Mode=4;
//Servo control PWM value, Ackerman car special
//舵机控制PWM值，阿克曼小车专用
int Servo;
int Servo = SERVO_INIT;
//Default speed of remote control car, unit: mm/s
//遥控小车的默认速度，单位：mm/s

2
HARDWARE/motor.h
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@@ -49,7 +49,7 @@
#define EN PDin(3)
#define Servo_PWM TIM12->CCR2
#define SERVO_INIT 1600 //Servo zero point //¶æ»úÁãµã
#define SERVO_INIT 1590 //Servo zero point //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void Enable_Pin(void);
void Servo_PWM_Init(u16 arr,u16 psc);

7
HARDWARE/timer.c
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@@ -465,10 +465,9 @@ void TIM12_SERVO_Init(u16 arr,u16 psc)
//Enable timer //使能定时器
TIM_Cmd(TIM12, ENABLE);
//The channel value is initialized to 1500, corresponding to the steering gear zero
//通道值初始化为1500，舵机零点对应值
TIM12->CCR2=1500;
TIM12->CCR1=1500;
//Initialize both servo channels to the configured steering center.
TIM12->CCR2=SERVO_INIT;
TIM12->CCR1=SERVO_INIT;
}

7
doc/todo.md Normal file
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@@ -0,0 +1,7 @@
1. 实测轮距、轴距和最大可用转角
修改了转角中位值的问题，保持直线行驶 SERVO_INIT 1590
2. 修正后轮半径公式
3. 先限制转角，再计算左右轮速
4. 重新标定舵机 PWM 与实际轮角关系
5. 辨识后轮电机和调整 PI