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复样后的双柱支架调试

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1、修复了晃动后支架乱跳的bug
2、修复了从底部到顶部后控制力变差的bug
3、控制方式改为以上面两个传感器为主
4、控制完成后设备还未校零，马上进行侧面推拉会产生误控
This commit is contained in:
DESKTOP-KQHDCM4\97555
2026-03-13 20:00:20 +08:00
parent 4b1eb44562
commit 0e05817f63
4 changed files with 302 additions and 148 deletions
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Project/HC32F460/MDK/HC32F460.uvoptx
+57 -2
View File
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>4</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>Segger\JL2CM3.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@@ -225,6 +225,61 @@
<WinNumber>1</WinNumber>
<ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>App.ADTrack.Slope_VPT,0x0A</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>App.RightUpCS1237_SlopeArray[0],0x0A</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>Olu_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>Oru_diff1,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>Olu_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>Oru_diff2,0x0A</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>Olu_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>Oru_diff3,0x0A</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>App.LeftUpCS1237_SlopeArray[0],0x0A</ItemText>
</Ww>
<Ww>
<count>24</count>
<WinNumber>1</WinNumber>
<ItemText>App.RightUpCS1237_SlopeArray[0],0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
Project/HC32F460/MDK/HC32F460.uvprojx
+1
View File
@@ -10,6 +10,7 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>