AimBot/Gimbal
14
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add 0xA9 feedforward frame and wire feedforward controller to motor output

Browse Source 
- host 0xA9 frame → master_machine decode → robot_cmd publish
  via gimbal_feedforward topic → gimbal subscribe → yaw_motor.feed_input
- add DM_Feedforward_Controller_s with Kp and feed_input fields
- add feedforward term (Kp * feed_input) to motor control output
- add DM_Feedforward_Kp to motor init config
This commit is contained in:
李傲琦
2026-06-07 02:18:36 +08:00
parent c0f43940bd
commit e1a01e6b53
7 changed files with 91 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/master_machine/master_machine.c
+7
View File
@@ -62,6 +62,13 @@ static void DecodeVision()
memcpy(&vision_data.motor_pitch_Kd, p, 4);
vision_data.debug_updated = 1;
}
else if (sof == VISION_SOF_FEEDFORWARD && len == VISION_FEEDFORWARD_LEN)
{
if (calc_checksum(buf, VISION_FEEDFORWARD_LEN) != buf[VISION_FEEDFORWARD_LEN - 1])
return;
memcpy(&vision_data.feedforward, buf + 1, 4);
vision_data.feedforward_updated = 1;
}
else if (sof == VISION_SOF_CMD && len == VISION_CMD_LEN)
{
if (calc_checksum(buf, VISION_CMD_LEN) != buf[VISION_CMD_LEN - 1])