TuxMonkey/bf_original_balance_chassis
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修复电机反转bug，添加部分注释

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This commit is contained in:
kai
2024-01-17 18:57:26 +08:00
parent 6f22c0ac30
commit 2ecea006f0
7 changed files with 44 additions and 25 deletions
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7
modules/motor/HTmotor/HT04.c
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@@ -121,7 +121,7 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s conf = {
.callback = HTMotorLostCallback,
.owner_id = motor,
.reload_count = 5, // 20ms
.reload_count = 5, // 50ms
};
motor->motor_daemon = DaemonRegister(&conf);
@@ -155,6 +155,9 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument)
while (1)
{
pid_ref = motor->pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref *= -1;
if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
{
if (setting->angle_feedback_source == OTHER_FEED)
@@ -186,8 +189,6 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument)
}
set = pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
LIMIT_MIN_MAX(set, T_MIN, T_MAX);
tmp = float_to_uint(set, T_MIN, T_MAX, 12);