first attempt to adjust PID for hero

Author: tz61

dev/application/param_adjusts/pa_hero/can_motor_config.cpp

@@ -23,7 +23,7 @@ PIDController::pid_params_t CANMotorCFG::a2vParams[MOTOR_COUNT] = {
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.1, 70,  90},
-        {8.5, 0.0f, 0.1, 70, 90},
+        {40., 1.0f, 0.1, 100, 200},
         {10, 0.0f, 0.2, 100, 500},
         {50, 0.0f, 0.18, 100, 250},//Bullet Loader temprarily to 2.5x to surpass the friction
         {10, 0.0f, 0.2, 100, 500},
@@ -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},
         {50.0f,  0.0f, 0.0f, 5000.0f, 15000.0f},
-        { 50.0f, 0.0f, 0.00f, 5000.0f, 15000.0f},
+        { 35.f, 5.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},

dev/application/vehicles/hero/can_motor_config.cpp

@@ -10,7 +10,7 @@ CANMotorBase CANMotorCFG::CANMotorProfile[MOTOR_COUNT] = {
         {CANMotorBase::can_channel_2, 0x204, CANMotorBase::M3508, 3572},//Back Right
         {CANMotorBase::can_channel_2, 0x203, CANMotorBase::M3508, 3572},//Back Left
         {CANMotorBase::can_channel_2, 0x208, CANMotorBase::GM6020, 1994},//Yaw
-        {CANMotorBase::can_channel_1, 0x205, CANMotorBase::GM6020, 4600},//PITCH 侧面的6020
+        {CANMotorBase::can_channel_1, 0x205, CANMotorBase::GM6020, 3301},//PITCH 侧面的6020
         {CANMotorBase::can_channel_1, 0x201, CANMotorBase::M3508_without_deceleration, 3344},
         {CANMotorBase::can_channel_2, 0x206, CANMotorBase::M3508, 3572}, //Bullet Loader
         {CANMotorBase::can_channel_1, 0x203, CANMotorBase::M3508_without_deceleration, 3572},//FW_UP(左边)
@@ -23,7 +23,7 @@ PIDController::pid_params_t CANMotorCFG::a2vParams[MOTOR_COUNT] = {
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.2, 100, 500},
         {10, 0.0f, 0.1, 70,  90},
-        {8.5, 0.0f, 0.1, 70, 90},
+        {40., 1.0f, 0.1, 100, 200},
         {10, 0.0f, 0.2, 100, 500},
         {50, 0.0f, 0.18, 100, 250},//Bullet Loader temprarily to 2.5x to surpass the friction
         {10, 0.0f, 0.2, 100, 500},
@@ -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},
         {50.0f,  0.0f, 0.0f, 5000.0f, 15000.0f},
-        { 50.0f, 0.0f, 0.00f, 5000.0f, 15000.0f},
+        { 35.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},

dev/application/vehicles/hero/hardware_conf.h

@@ -27,7 +27,7 @@
 #endif
 
 #if !defined(ENABLE_USB_SHELL) || defined(__DOXYGEN__)
-#define ENABLE_USB_SHELL                TRUE
+#define ENABLE_USB_SHELL                FALSE
 #endif
 
 #endif //META_INFANTRY_HARDWARE_CONF_H

dev/application/vehicles/hero/main_hero.cpp

@@ -197,7 +197,9 @@ int main() {
 
     /// Start LGs
 #ifndef DEBUG_NO_GIMBAL
-    GimbalLG::init(THREAD_GIMBAL_LG_VISION_PRIO, THREAD_GIMBAL_LG_SENTRY_PRIO);
+// Those two priorities are vision and subpitch, subpitch is already gone so no use of those two params temporarily
+// 24/03/14
+    GimbalLG::init(THREAD_GIMBAL_SKD_PRIO, THREAD_GIMBAL_SKD_PRIO);
 #endif
 #ifndef DEBUG_NO_SHOOT
     ShootLG::init(SHOOT_DEGREE_PER_BULLET, true, THREAD_STUCK_DETECT_PRIO,  THREAD_SHOOT_BULLET_COUNTER_PRIO, THREAD_SHOOT_LG_VISION_PRIO);
@@ -215,7 +217,7 @@ int main() {
 
     /// Start Inspector and User Threads
 #if !defined(DEBUG_NO_SHOOT) && !defined(DEBUG_NO_CHASSIS) && !defined(DEBUG_NO_GIMBAL)
-    InspectorH::start_inspection(THREAD_INSPECTOR_PRIO);
+//    InspectorH::start_inspection(THREAD_INSPECTOR_PRIO);
 #endif
     UserH::start(THREAD_USER_PRIO, THREAD_USER_ACTION_PRIO);
 

dev/application/vehicles/hero/user_hero.cpp

@@ -10,8 +10,9 @@ float UserH::gimbal_rc_yaw_max_speed = 60;  // [degree/s]
 float UserH::gimbal_pc_yaw_sensitivity[3] = {50000, 100000, 150000};  // [Slow, Normal, Fast] [degree/s]
 
 float UserH::gimbal_pc_pitch_sensitivity[3] = {20000, 50000, 60000};   // [Slow, Normal, Fast] [degree/s]
-float UserH::gimbal_pitch_min_angle = -12; // down range for pitch [degree]
-float UserH::gimbal_pitch_max_angle = 18; //  up range for pitch [degree]
+// 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_max_angle = 10; //  up range for pitch [degree]
 
 /// Chassis Config
 float UserH::base_power = 40.0f;
@@ -50,7 +51,8 @@ void UserH::UserThread::main() {
     while (!shouldTerminate()) {
 #ifndef DEBUG_NO_GIMBAL
         /*** ---------------------------------- Gimbal --------------------------------- ***/
-        if (!InspectorH::remote_failure() /*&& !InspectorI::chassis_failure()*/ && !InspectorH::gimbal_failure()) {
+//        if (!InspectorH::remote_failure() /*&& !InspectorI::chassis_failure()*/ && !InspectorH::gimbal_failure()) {
+            if(true){ // a stupid hack due to Gimbal's Yaw is broken 2024/03/13
             if ((Remote::rc.s1 == Remote::S_MIDDLE && Remote::rc.s2 == Remote::S_UP)) {
                 /// Remote - Yaw + Pitch
                 GimbalLG::set_mode(GimbalLG::CHASSIS_REF_MODE);

dev/application/vehicles/hero/user_hero.h

@@ -20,7 +20,7 @@
 
 // Added by TonyZhangZTN for debug
 //#define DEBUG_NO_CHASSIS
-#define DEBUG_NO_GIMBAL
+//#define DEBUG_NO_GIMBAL
 //#define DEBUG_NO_SHOOT
 #define DEBUG_NO_VISION
 class UserH {