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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8
modules/motor/HT04.h
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@@ -24,7 +24,7 @@ typedef struct // HT04
PIDInstance pid;
CANInstance *motor_can_instace;
} joint_instance;
} HKMotor_Measure_t;
typedef enum
{
@@ -33,10 +33,10 @@ typedef enum
CMD_ZERO_POSITION = 0xfe
} joint_mode;
joint_instance *HTMotorInit(CAN_Init_Config_s config);
HKMotor_Measure_t *HTMotorInit(CAN_Init_Config_s config);
void JointControl(joint_instance *_instance, float current);
void JointControl(HKMotor_Measure_t *_instance, float current);
void SetJointMode(joint_mode cmd, joint_instance *_instance);
void SetJointMode(joint_mode cmd, HKMotor_Measure_t *_instance);
#endif // !HT04_H#define HT04_H