TuxMonkey/bf_original_balance_chassis
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修复电机接收角度计算bug

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This commit is contained in:
NeoZeng
2022-11-20 16:26:32 +08:00
parent 267b9c41b1
commit 29877a4b64
1 changed files with 2 additions and 2 deletions
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4
modules/motor/dji_motor.c
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@@ -1,7 +1,7 @@
#include "dji_motor.h" #include "dji_motor.h"
#define PI2 3.141592f #define PI2 3.141592f
#define ECD_ANGLE_COEF 3.835e-4 // ecd/8192*pi #define ECD_ANGLE_COEF 0.043945f // 360/8192
static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用 static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
@@ -139,7 +139,7 @@ static void DecodeDJIMotor(can_instance *_instance)
measure->total_round--; measure->total_round--;
else if (measure->ecd - measure->last_ecd < -4096) else if (measure->ecd - measure->last_ecd < -4096)
measure->total_round++; measure->total_round++;
measure->total_angle = measure->total_round * PI2 + measure->ecd * ECD_ANGLE_COEF; // @todo simplify the calculation measure->total_angle = measure->total_round * 360 + measure->ecd * ECD_ANGLE_COEF; // @todo simplify the calculation
break; break;
} }
} }