From 9dfb7e8dc69bda2afd3db2fb9a6d5e0c0e42c0c2 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, 27 Mar 2024 13:26:35 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=94=B5=E6=9C=BA=E5=92=8Cpi?=
 =?UTF-8?q?d=E9=99=90=E5=B9=85?=
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---
 app/by_fan_control.c |  8 ++++----
 app/jj_motion.c      | 20 ++++++++------------
 2 files changed, 12 insertions(+), 16 deletions(-)

diff --git a/app/by_fan_control.c b/app/by_fan_control.c
index 8a3dc53..cfca57d 100644
--- a/app/by_fan_control.c
+++ b/app/by_fan_control.c
@@ -72,10 +72,10 @@ void by_pwm_update_duty(uint32_t update_pwm_duty1, uint32_t update_pwm_duty2)
  */
 void by_pwm_power_duty(uint32_t pwm_duty_ls, uint32_t pwm_duty_rs, uint32_t pwm_duty_lb, uint32_t pwm_duty_rb)
 {
-    pwm_duty_ls = myclip(pwm_duty_ls, 0, 5000);
-    pwm_duty_rs = myclip(pwm_duty_rs, 0, 5000);
-    pwm_duty_lb = myclip(pwm_duty_lb, 0, 5000);
-    pwm_duty_rb = myclip(pwm_duty_rb, 0, 5000);
+    pwm_duty_ls = myclip(pwm_duty_ls, 0, 8000);
+    pwm_duty_rs = myclip(pwm_duty_rs, 0, 8000);
+    pwm_duty_lb = myclip(pwm_duty_lb, 0, 6000);
+    pwm_duty_rb = myclip(pwm_duty_rb, 0, 6000);
 
     pwm_duty_ls_g = pwm_duty_ls;
     pwm_duty_rs_g = pwm_duty_rs;
diff --git a/app/jj_motion.c b/app/jj_motion.c
index 568ad8e..548ecdf 100644
--- a/app/jj_motion.c
+++ b/app/jj_motion.c
@@ -92,10 +92,10 @@ void sport_motion(void)
             cnt2 = 0;
             PID_Compute(&far_angle_pid);
         }
-        uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + 1.5 * out_gyro, 0.0f, 5000.f);
-        uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - 1.5 * out_gyro, 0.0f, 5000.f);
-        uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 5000.f);
-        uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 5000.f);
+        uint32_t pwm_duty_ls = (uint32_t)myclip_f(-1 * out_pos + out_gyro, 0.0f, 8000.f);
+        uint32_t pwm_duty_rs = (uint32_t)myclip_f(1 * out_pos - out_gyro, 0.0f, 8000.f);
+        uint32_t pwm_duty_lb = (uint32_t)myclip_f(1 * out_speed + out_gyro, 0.0f, 6000.f);
+        uint32_t pwm_duty_rb = (uint32_t)myclip_f(1 * out_speed - out_gyro, 0.0f, 6000.f);
         by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
 
         // by_pwm_power_duty(500+out_gyro, 500-out_gyro, 500+out_gyro , 500-out_gyro);
@@ -107,11 +107,7 @@ void sport_motion(void)
     if (bt_fly_flag == 0) {
         by_pwm_update_duty(0 + 500, 0 + 500);
     } else {
-        if (in_angle > 7.5 || in_angle < -7.5) {
-            by_pwm_update_duty(bt_fly + 450, bt_fly + 450);
-        } else {
-            by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
-        }
+        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
     }
 }
 
@@ -132,20 +128,20 @@ void sport_pid_init()
     PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp, gy_Ki, gy_Kd, _PID_P_ON_E, _PID_CD_REVERSE);
     PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&far_gyro_pid, 1);
-    PID_SetOutputLimits(&far_gyro_pid, -3000.0f, 3000.0f);
+    PID_SetOutputLimits(&far_gyro_pid, -4000.0f, 4000.0f);
     // PID_Init(&far_gyro_pid);
 
     /* 近点控制 */
     PID(&near_pos_pid, &in_pos, &out_pos, &set_pos, po_Kp, po_Ki, po_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
     PID_SetMode(&near_pos_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&near_pos_pid, 10);
-    PID_SetOutputLimits(&near_pos_pid, -5000.0f, 5000.0f);
+    PID_SetOutputLimits(&near_pos_pid, -4000.0f, 4000.0f);
     // PID_Init(&near_pos_pid);
 
     /* 速度控制 */
     PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_E, _PID_CD_DIRECT);
     PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
     PID_SetSampleTime(&speed_pid, 10);
-    PID_SetOutputLimits(&speed_pid, 0.0f, 2500.0f);
+    PID_SetOutputLimits(&speed_pid, 0.0f, 2000.0f);
     // PID_Init(&speed_pid);
 }