TuxMonkey/bf_original_balance_chassis
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优化了点击pid计算流程，修复了bsp未初始化的异常，修复了数个未定义和隐式声明的警告

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This commit is contained in:
NeoZng
2022-12-09 18:25:35 +08:00
parent 02b3af15c7
commit 37c23ddb79
16 changed files with 104 additions and 75 deletions
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41
application/chassis/chassis.c
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@@ -59,17 +59,19 @@ void ChassisInit()
{
// 四个轮子的参数一样,改tx_id和反转标志位即可
Motor_Init_Config_s chassis_motor_config = {
.can_init_config.can_handle=&hcan1,
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp=10,
.Ki=0,
.Kd=0,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.current_PID = {
.Kp=10,
.Ki=0,
.Kd=0,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
},
.controller_setting_init_config = {
@@ -78,26 +80,27 @@ void ChassisInit()
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
},
.motor_type = M3508};
chassis_motor_config.can_init_config.tx_id=1;
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
.motor_type = M3508,
};
chassis_motor_config.can_init_config.tx_id = 1;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_lf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id=2,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
chassis_motor_config.can_init_config.tx_id = 2,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id=3,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
chassis_motor_config.can_init_config.tx_id = 3,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_lb = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id=4,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
chassis_motor_config.can_init_config.tx_id = 4,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6);
SuperCap_Init_Config_s cap_conf = {
.can_config = {
.can_handle = &hcan2,