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更新dji_motor初始化的配置,优化参数传递

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This commit is contained in:
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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18
modules/motor/HT04.h
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@@ -7,14 +7,14 @@
#define HT_MOTOR_CNT 4
#define P_MIN -95.5f // Radians
#define P_MIN -95.5f // Radians
#define P_MAX 95.5f
#define V_MIN -45.0f // Rad/s
#define V_MIN -45.0f // Rad/s
#define V_MAX 45.0f
#define T_MIN -18.0f
#define T_MAX 18.0f
typedef struct //HT04
typedef struct // HT04
{
float last_ecd;
float ecd;
@@ -22,20 +22,20 @@ typedef struct //HT04
float given_current;
PID_t pid;
can_instance* motor_can_instace;
can_instance *motor_can_instace;
} joint_instance;
typedef enum
{
CMD_MOTOR_MODE = 0xfc,
CMD_RESET_MODE = 0xfd,
CMD_MOTOR_MODE = 0xfc,
CMD_RESET_MODE = 0xfd,
CMD_ZERO_POSITION = 0xfe
} joint_mode;
joint_instance* HTMotorInit(can_instance_config config);
joint_instance *HTMotorInit(can_instance_config_s config);
void JointControl(joint_instance* _instance,float current);
void JointControl(joint_instance *_instance, float current);
void SetJointMode(joint_mode cmd,joint_instance* _instance);
void SetJointMode(joint_mode cmd, joint_instance *_instance);
#endif // !HT04_H#define HT04_H