hero: adjust max pitch from -25 deg to -35 degree

adjust wheel from 1 to -999 to enable bullet loader to rotate reversely adjust hero PID param I2V's P from 35 to 30 to eliminate shaking
Meta-Team · Mar 16, 2024 · f9b1616 · f9b1616
1 parent bd4a66a
commit f9b1616
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/dev/application/param_adjusts/pa_hero/can_motor_config.cpp b/dev/application/param_adjusts/pa_hero/can_motor_config.cpp
@@ -36,7 +36,7 @@ PIDController::pid_params_t CANMotorCFG::v2iParams[MOTOR_COUNT] = {
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {35.0f,  1.0f, 1.0f, 5000.0f, 15000.0f},
-        { 35.f, 1.f, 0.00f, 5000.0f, 15000.0f},
+        { 30.f, 1.f, 0.00f, 5000.0f, 15000.0f},
         {26.0f, 0.1f, 0.02f, 2000.0f, 6000.0f},
         {35.0f, 2.1f, 0.0f, 3000.0f, 16383.0f},//Bullet Loader
         {26.0f, 0.1f, 0.02f, 2000.0f, 6000.0f},

diff --git a/dev/application/vehicles/hero/can_motor_config.cpp b/dev/application/vehicles/hero/can_motor_config.cpp
@@ -36,7 +36,7 @@ PIDController::pid_params_t CANMotorCFG::v2iParams[MOTOR_COUNT] = {
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {26.0f,0.1f,0.02f,2000.0,6000.0},
         {35.0f,  1.0f, 1.0f, 5000.0f, 15000.0f},
-        { 35.f, 1.f, 0.00f, 5000.0f, 15000.0f},
+        { 30.f, 1.f, 0.00f, 5000.0f, 15000.0f},
         {26.0f, 0.1f, 0.02f, 2000.0f, 6000.0f},
         {35.0f, 2.1f, 0.0f, 3000.0f, 16383.0f},//Bullet Loader
         {26.0f, 0.1f, 0.02f, 2000.0f, 6000.0f},

diff --git a/dev/application/vehicles/hero/user_hero.cpp b/dev/application/vehicles/hero/user_hero.cpp
@@ -11,7 +11,7 @@ float UserH::gimbal_pc_yaw_sensitivity[3] = {50000, 100000, 150000};  // [Slow,
 
 float UserH::gimbal_pc_pitch_sensitivity[3] = {20000, 50000, 60000};   // [Slow, Normal, Fast] [degree/s]
 // update: 2024/03/14 up to 12, down to -35 is ok.
-float UserH::gimbal_pitch_min_angle = -25; // down range for pitch [degree]
+float UserH::gimbal_pitch_min_angle = -35; // down range for pitch [degree]
 float UserH::gimbal_pitch_max_angle = 10; //  up range for pitch [degree]
 
 /// Chassis Config
@@ -166,7 +166,7 @@ void UserH::UserThread::main() {
                 if (Remote::rc.wheel > 0.5) {  // down
                     ShootLG::set_limit_mode(ShootLG::UNLIMITED_MODE);
                     if (ShootLG::get_shooter_state() == ShootLG::STOP) {
-                        ShootLG::shoot(1, shoot_feed_rate);
+                        ShootLG::shoot(-999, shoot_feed_rate);
                     }
                 } else if (Remote::rc.wheel < -0.5) {  // up
                     ShootLG::set_limit_mode(ShootLG::UNLIMITED_MODE);