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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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15
modules/motor/LK9025.h
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@@ -9,10 +9,9 @@
#define I_MIN -2000
#define I_MAX 2000
#define LIMIT_MIN_MAX(x,min,max) (x) = (((x)<=(min))?(min):(((x)>=(max))?(max):(x)))
#define LIMIT_MIN_MAX(x, min, max) (x) = (((x) <= (min)) ? (min) : (((x) >= (max)) ? (max) : (x)))
typedef struct //9025
typedef struct // 9025
{
uint16_t last_ecd;
uint16_t ecd;
@@ -20,8 +19,8 @@ typedef struct //9025
int16_t given_current;
uint8_t temperate;
PID_t* pid;
can_instance* motor_can_instance;
PID_t *pid;
can_instance *motor_can_instance;
} driven_instance;
@@ -30,10 +29,10 @@ typedef enum
unused = 0,
} driven_mode;
driven_instance* LKMotroInit(can_instance_config config);
driven_instance *LKMotroInit(can_instance_config_s config);
void DrivenControl(int16_t motor1_current,int16_t motor2_current);
void DrivenControl(int16_t motor1_current, int16_t motor2_current);
void SetDrivenMode(driven_mode cmd,uint16_t motor_id);
void SetDrivenMode(driven_mode cmd, uint16_t motor_id);
#endif // LK9025_H