From 73a30fc1873aa3110dbbcdaaa89a2cc0f99a7cd3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com>
Date: Mon, 8 Jul 2024 21:02:14 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E6=B8=9B=E5=B0=8F=E5=81=B4=E9=9D=A2?=
 =?UTF-8?q?=E4=B8=AD=E9=96=93=E5=80=BC?=
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---
 app/jj_motion.c | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/app/jj_motion.c b/app/jj_motion.c
index 57f1f95..c1dfba8 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -81,7 +81,6 @@ float out_pos;
 float set_pos = 0.0f;
 // float set_gyro = 0.0f;
 
-
 float in_speed;
 float out_speed;
 
@@ -100,7 +99,7 @@ int cnt6           = 0;
 int cnt7           = 0;
 int cnt8           = 0;
 int if_start       = 0;
-float shock_stop=0;
+float shock_stop   = 0;
 uint8_t in_state   = 0;
 uint8_t in_stop    = 0;
 uint8_t last_state = 0;
@@ -148,13 +147,17 @@ void sport_motion()
     get_vol();
     in_gyro = imu660ra_gyro_z;
     // 抖动停车
-
+    if (fabs(out_gyro) < 700) {
+        PID_SetOutputLimits(&speed_pid, -0.0f, 2800.0f);
+    } else {
+        PID_SetOutputLimits(&speed_pid, -0.0f, 2100.0f);
+    }
     if (imu660ra_acc_z <= 800) {
         cnt7++;
     } else {
         cnt7 = 0;
     }
-    if (cnt7 >= 100&&shock_stop==1) {
+    if (cnt7 >= 100 && shock_stop == 1) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("ting");
     }
@@ -163,10 +166,8 @@ void sport_motion()
         stop_flag = 1;
     }
     if (stop_flag == 1) {
-        cnt4++;
-        if (cnt4 >= 100) {
-            bt_fly_flag = bt_run_flag = 0;
-        }
+
+        bt_fly_flag = bt_run_flag = 0;
     }
     /* 动力风扇设置 */
     if (1 == bt_run_flag) {
@@ -233,8 +234,8 @@ void sport_motion()
             cnt5 = 0;
         }
         // 并级pid，限幅
-        pwm_duty_ls = (int32_t)myclip_f(300 - out_pos, 100.0f, 500.f);
-        pwm_duty_rs = (int32_t)myclip_f(300 + out_pos, 100.0f, 500.f);
+        pwm_duty_ls = (int32_t)myclip_f(250 - out_pos, 50.0f, 500.f);
+        pwm_duty_rs = (int32_t)myclip_f(250 + out_pos, 50.0f, 500.f);
         pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 300.0f, 3000.f);
         pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 300.0f, 3000.f);
 
@@ -275,17 +276,17 @@ void sport_pid_init()
     PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&pos_pid, 20);
-    PID_SetOutputLimits(&pos_pid, -200.0f, 200.0f);
+    PID_SetOutputLimits(&pos_pid, -250.0f, 250.0f);
 
     /* 角速度控制 */
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 20);
-    PID_SetOutputLimits(&far_gyro_pid, -1200.0f, 1200.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -1500.0f, 1500.0f);
 
     /* 速度控制 */
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&speed_pid, 20);
-    PID_SetOutputLimits(&speed_pid, -0.0f, 1800.0f);
+    PID_SetOutputLimits(&speed_pid, -0.0f, 2100.0f);
 }