TuxMonkey/bf_original_balance_chassis
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fix bugs

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This commit is contained in:
NeoZng
2022-11-09 20:24:22 +08:00
parent 4d32450e3d
commit 35d88aaa93
10 changed files with 39 additions and 44 deletions
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5
modules/motor/HT04.c
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@@ -22,7 +22,7 @@ static void DecodeJoint(can_instance* motor_instance)
uint16_t tmp;
for (size_t i = 0; i < HT_MOTOR_CNT; i++)
{
if(&joint_motor_info[i]->motor_can_instace==motor_instance)
if(joint_motor_info[i]->motor_can_instace==motor_instance)
{
tmp = (motor_instance->rx_buff[1] << 8) | motor_instance->rx_buff[2];
joint_motor_info[i]->last_ecd=joint_motor_info[i]->ecd;
@@ -40,7 +40,8 @@ joint_instance* HTMotorInit(can_instance_config config)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
CANRegister(&joint_motor_info[idx++]->motor_can_instace,config);
CANRegister(joint_motor_info[idx++]->motor_can_instace,config);
return joint_motor_info[idx++];
}
void JointControl(joint_instance* _instance,float current)