TuxMonkey/bf_original_balance_chassis
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更新dji_motor初始化的配置,优化参数传递

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NeoZng
2022-11-12 12:39:36 +08:00
parent 55e12955b7
commit 0fb67070b8
12 changed files with 234 additions and 174 deletions
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48
HAL_N_Middlewares/Src/main.c
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@@ -116,31 +116,31 @@ int main(void)
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
RC_init(&huart3);
can_instance_config can_config = {.can_handle = &hcan1,
.tx_id = 1};
Motor_Control_Setting_s motor_config = {.angle_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.speed_feedback_source = MOTOR_FEED,
.reverse_flag = MOTOR_DIRECTION_NORMAL};
Motor_Controller_Init_s controller_init = {.current_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000,
},
.speed_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000,
}};
Motor_Type_e type = M3508;
DWT_Init(168);
dji_motor_instance *djimotor = DJIMotorInit(can_config, motor_config, controller_init, type);
Motor_Init_Config_s config = {
.motor_type = M3508,
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.speed_feedback_source = MOTOR_FEED,
.reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.current_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000},
.speed_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000}}};
dji_motor_instance *djimotor = DJIMotorInit(config);
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */