TuxMonkey/bf_original_balance_chassis
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绘制基础UI

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kai
2024-05-24 20:49:07 +08:00
parent 20546dd2d7
commit 03ae284fca
6 changed files with 138 additions and 57 deletions
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17
application/chassis/balance.c
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@@ -441,6 +441,20 @@ static void WattLimitSet() /* 设定运动模态的输出 */
LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
}
// 裁判系统,双板通信,电容功率控制等
static void CommNPower()
{
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
/* 更新ui数据 */
ui_data.direction = chassis_cmd_recv.direction;
ui_data.friction_mode = chassis_cmd_recv.friction_mode;
ui_data.loader_mode = chassis_cmd_recv.loader_mode;
ui_data.chassis_mode = chassis_cmd_recv.chassis_mode;
ui_data.ui_mode = chassis_cmd_recv.ui_mode;
ui_data.vision_mode = chassis_cmd_recv.vision_mode;
}
void BalanceTask()
{
del_t = DWT_GetDeltaT(&balance_dwt_cnt);
@@ -450,6 +464,8 @@ void BalanceTask()
ControlSwitch();
// 设置目标参数和工作模式
WokingStateSet();
// 裁判系统,双板通信,电容功率控制等
CommNPower();
// 参数组装
ParamAssemble();
// 将五连杆映射成单杆
@@ -479,5 +495,4 @@ void BalanceTask()
// 运动模态,电机输出映射和限幅
WattLimitSet();
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
}