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曲率pid输出存在越界

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井明江
2024-06-18 16:11:59 +08:00
parent 8d4580f225
commit ad2ba36b54
6 changed files with 77 additions and 94 deletions
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22
app/page/page_dparam.c
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@@ -48,8 +48,8 @@ static void Loop()
ips200_show_float(80, 20, out_speed, 4, 1);
ips200_show_string(0, 40, "angle");
ips200_show_float(80, 40, in_angle, 4, 1);
ips200_show_string(0, 60, "accz");
ips200_show_float(80, 60, (float)imu660ra_acc_z, 6, 1);
ips200_show_string(0, 60, "cal");
ips200_show_float(80, 60, in_pos, 3, 5);
ips200_show_string(0, 80, "accy");
ips200_show_float(80, 80, (float)imu660ra_gyro_z, 4, 2);
ips200_show_string(0, 100, "speed");
@@ -60,15 +60,17 @@ static void Loop()
ips200_show_float(80, 140, out_gyro, 4, 1);
ips200_show_string(0, 160, "outpos");
ips200_show_float(80, 160, out_pos, 4, 1);
ips200_show_string(0, 180, "outcal");
ips200_show_float(80, 180, out_cal, 4, 1);
// ips200_show_string(0, 180, "ls");
// ips200_show_float(80, 180, pwm_duty_ls, 4, 1);
// ips200_show_string(0, 200, "rs");
// ips200_show_float(80, 200, pwm_duty_rs, 4, 1);
// ips200_show_string(0, 220, "lb");
// ips200_show_float(80, 220, pwm_duty_lb, 4, 1);
// ips200_show_string(100, 0, "rb");
// ips200_show_float(180, 0, pwm_duty_rb, 4, 1);
ips200_show_string(100, 0, "ls");
ips200_show_float(180, 0, pwm_duty_ls, 4, 1);
ips200_show_string(100, 20, "rs");
ips200_show_float(180, 20, pwm_duty_rs, 4, 1);
ips200_show_string(100, 40, "lb");
ips200_show_float(180, 40, pwm_duty_lb, 4, 1);
ips200_show_string(100, 60, "rb");
ips200_show_float(180, 60, pwm_duty_rb, 4, 1);
}
/**
* @brief 页面事件