TuxMonkey/bf_original_balance_chassis
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完成了LKmotor模块的重构，优化了DJIMotor的反馈计算

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This commit is contained in:
NeoZng
2022-12-11 20:48:24 +08:00
parent 78cc27ee1a
commit 2f41e67de0
15 changed files with 274 additions and 245 deletions
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10
modules/motor/HT04.c
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@@ -1,7 +1,7 @@
#include "HT04.h"
#include "memory.h"
joint_instance *joint_motor_info[HT_MOTOR_CNT];
HKMotor_Measure_t *joint_motor_info[HT_MOTOR_CNT];
static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
{
@@ -36,15 +36,15 @@ static void DecodeJoint(CANInstance *motor_instance)
}
}
joint_instance *HTMotorInit(CAN_Init_Config_s config)
HKMotor_Measure_t *HTMotorInit(CAN_Init_Config_s config)
{
static uint8_t idx;
joint_motor_info[idx] = (joint_instance *)malloc(sizeof(joint_instance));
joint_motor_info[idx] = (HKMotor_Measure_t *)malloc(sizeof(HKMotor_Measure_t));
joint_motor_info[idx]->motor_can_instace = CANRegister(&config);
return joint_motor_info[idx++];
}
void JointControl(joint_instance *_instance, float current)
void JointControl(HKMotor_Measure_t *_instance, float current)
{
uint16_t tmp;
LIMIT_MIN_MAX(current, T_MIN, T_MAX);
@@ -54,7 +54,7 @@ void JointControl(joint_instance *_instance, float current)
CANTransmit(_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd, joint_instance *_instance)
void SetJointMode(joint_mode cmd, HKMotor_Measure_t *_instance)
{
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7] = (uint8_t)cmd;