From 936f775dbd9c7eec478132cc67a57477dae21f47 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=BA=95=E6=98=8E=E6=B1=9F?= <246462502@qq.com>
Date: Wed, 17 Jul 2024 10:51:06 +0800
Subject: [PATCH] =?UTF-8?q?=E6=AF=94=E8=B5=9B=E6=9C=80=E6=96=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/jj_motion.c | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/app/jj_motion.c b/app/jj_motion.c
index 6bc1896..c7a6d71 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -15,59 +15,59 @@ PID_TypeDef speed_pid;
 PID_TypeDef cir_pos_pid;
 ///////////////////////////////////////////
 // 直道后面风扇角度环
-float an_Kp1 = 50.0f;
+float an_Kp1 = 46.0f;
 float an_Ki1 = 0.0f;
 float an_Kd1 = 0.0f;
 // 直道角速度环
-float gy_Kp1 = 6.0f;
+float gy_Kp1 = 1.530f;
 float gy_Ki1 = 0.0f;
 float gy_Kd1 = 0.0f;
 // 直道侧面风扇角度环
-float po_Kp1 = 13.0f;
+float po_Kp1 = 2.10f;
 float po_Ki1 = 0.0f;
 float po_Kd1 = 0.0f;
 ////////////////////////////////////
 // 弯道后面风扇角度环
-float an_Kp0 = 60.0f;
+float an_Kp0 = 53.0f;
 float an_Ki0 = 0.0f;
 float an_Kd0 = 0.0f;
 
 // 弯道角速度环
-float gy_Kp0 = 10.80f;
+float gy_Kp0 = 2.2180f;
 float gy_Ki0 = 0.0f;
 float gy_Kd0 = 0.0f;
 
 // 弯道侧面风扇角度环
-float cn_Kp1 = 25.0f;
+float cn_Kp1 = 7.0f;
 float cn_Ki1 = 0.f;
 float cn_Kd1 = 0.0f;
 ////////////////////////////////////////
 // 避障后面角度环
-float za_Kp = 50.f;
+float za_Kp = 55.f;
 float za_Ki = 0;
 float za_Kd = 0;
 
-float zg_Kp = 3.f;
+float zg_Kp = 2.f;
 float zg_Ki = 0;
 float zg_Kd = 0;
 
-float zp_Kp = 30.f;
+float zp_Kp = 6.f;
 float zp_Ki = 0;
 float zp_Kd = 0;
 ///////////////////////////////////////
 // 圆环后面风扇角度环
-float yu_Kp0 = 60.0f;
+float yu_Kp0 = 58.0f;
 float yu_Ki0 = 0.0f;
 float yu_Kd0 = 0.0f;
 // 圆环角速度环
-float ygy_Kp0 = 8.40f;
+float ygy_Kp0 = 2.20f;
 float ygy_Ki0 = 0.0f;
 float ygy_Kd0 = 0.0f;
 // 圆环侧面角度环
-float yuc_Kp;
+float yuc_Kp=4.4f;
 // 速度环
-float sp_Kp = 2.0f;
-float sp_Ki = 4.f;
+float sp_Kp = 3.40f;
+float sp_Ki = 3.6f;
 float sp_Kd = 0.0f;
 ////////////////////////////////////////////////////
 // 当前和输入量
@@ -162,12 +162,12 @@ void sport_motion()
     } else {
         cnt7 = 0;
     }
-    if (cnt7 >= 50 && shock_stop == 1) {
+    if (cnt7 >= 50 && ((uint32_t)shock_stop ==1||(uint32_t)shock_stop == 2)) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("up");
     }
     // 異常值停车
-    if (fabs(in_angle - last_angle) > 45.f) {
+    if (fabs(in_angle - last_angle) > 45.f&&((uint32_t)shock_stop == 1||(uint32_t)shock_stop == 3)) {
         bt_fly_flag = bt_run_flag = 0;
         bt_printf("bug");
     }