简化了电机测量的命名,完成初版平衡底盘的功能编写,待测试方向和符号的正确性

modules/motor/HTmotor/HT04.c

@@ -42,16 +42,16 @@ static void HTMotorDecode(CANInstance *motor_can)
 {
     uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
     uint8_t *rxbuff = motor_can->rx_buff;
-    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->motor_measure; // 将can实例中保存的id转换成电机实例的指针
+    HTMotor_Measure_t *measure = &((HTMotorInstance *)motor_can->id)->measure; // 将can实例中保存的id转换成电机实例的指针
 
     measure->last_angle = measure->total_angle;
 
     tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
-    measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MIN, P_MAX, 16);
+    measure->total_angle =  uint_to_float(tmp, P_MIN, P_MAX, 16);
 
     tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
-    measure->speed_aps = SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MIN, V_MAX, 12) +
-                         (1 - SPEED_SMOOTH_COEF) * measure->speed_aps;
+    measure->speed_rads = SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MIN, V_MAX, 12) +
+                          (1 - SPEED_SMOOTH_COEF) * measure->speed_rads;
 
     tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
     measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
@@ -97,7 +97,7 @@ void HTMotorControl()
     for (size_t i = 0; i < idx; i++)
     { // 先获取地址避免反复寻址
         motor = ht_motor_instance[i];
-        measure = &motor->motor_measure;
+        measure = &motor->measure;
         setting = &motor->motor_settings;
         motor_can = motor->motor_can_instace;
         pid_ref = motor->pid_ref;
@@ -109,7 +109,7 @@ void HTMotorControl()
             else
                 pid_measure = measure->real_current;
             // measure单位是rad,ref是角度,统一到angle下计算,方便建模
-            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure * RAD_2_ANGLE, pid_ref);
+            pid_ref = PIDCalculate(&motor->angle_PID, pid_measure * RAD_2_DEGREE, pid_ref);
         }
 
         if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
@@ -120,9 +120,9 @@ void HTMotorControl()
             if (setting->angle_feedback_source == OTHER_FEED)
                 pid_measure = *motor->other_speed_feedback_ptr;
             else
-                pid_measure = measure->speed_aps;
+                pid_measure = measure->speed_rads;
             // measure单位是rad / s ,ref是angle per sec,统一到angle下计算
-            pid_ref = PIDCalculate(&motor->speed_PID, pid_measure * RAD_2_ANGLE, pid_ref);
+            pid_ref = PIDCalculate(&motor->speed_PID, pid_measure * RAD_2_DEGREE, pid_ref);
         }
 
         if (setting->close_loop_type & CURRENT_LOOP)

modules/motor/HTmotor/HT04.h

@@ -18,17 +18,17 @@
 #define T_MAX 18.0f
 
 typedef struct // HT04
-{              
-    float last_angle; 
+{
+    float last_angle;
     float total_angle; // 角度为多圈角度,范围是-95.5~95.5,单位为rad
-    float speed_aps;
+    float speed_rads;
     float real_current;
 } HTMotor_Measure_t;
 
 /* HT电机类型定义*/
 typedef struct
 {
-    HTMotor_Measure_t motor_measure;
+    HTMotor_Measure_t measure;
 
     Motor_Control_Setting_s motor_settings;
 
@@ -42,7 +42,7 @@ typedef struct
     float pid_ref;
 
     Motor_Working_Type_e stop_flag; // 启停标志
-    
+
     CANInstance *motor_can_instace;
 } HTMotorInstance;
 
@@ -55,16 +55,16 @@ typedef enum
 } HTMotor_Mode_t;
 
 /**
- * @brief 
- * 
- * @param config 
- * @return HTMotorInstance* 
+ * @brief
+ *
+ * @param config
+ * @return HTMotorInstance*
  */
 HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config);
 
 /**
  * @brief 设定电机的参考值
- * 
+ *
  * @param motor 要设定的电机
  * @param current   设定值
  */
@@ -72,20 +72,20 @@ void HTMotorSetRef(HTMotorInstance *motor, float ref);
 
 /**
  * @brief 给所有的HT电机发送控制指令
- * 
+ *
  */
 void HTMotorControl();
 
 /**
  * @brief 停止电机,之后电机不会响应HTMotorSetRef设定的值
- * 
- * @param motor 
+ *
+ * @param motor
  */
 void HTMotorStop(HTMotorInstance *motor);
 
 /**
  * @brief 启动电机
- * 
+ *
  * @param motor 要启动的电机
  */
 void HTMotorEnable(HTMotorInstance *motor);
@@ -96,8 +96,8 @@ void HTMotorEnable(HTMotorInstance *motor);
  *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
  *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
  *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
- * 
- * @param motor 
+ *
+ * @param motor
  */
 void HTMotorCalibEncoder(HTMotorInstance *motor);