TuxMonkey/bf_original_balance_chassis
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修复HT电机解算bug，待添加零位校准。修复bsp_can module id未初始化问题

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This commit is contained in:
NeoZng
2022-12-14 17:15:54 +08:00
parent 4637cb8297
commit 3dbc0a7b0a
7 changed files with 33 additions and 24 deletions
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6
modules/motor/HT04.c
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@@ -50,14 +50,14 @@ static void HTMotorDecode(CANInstance *motor_can)
measure->last_angle = measure->total_angle;
tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MAX, P_MIN, 16);
measure->total_angle = RAD_2_ANGLE * uint_to_float(tmp, P_MIN, P_MAX, 16);
tmp = (uint16_t)((rxbuff[3] << 4) | (rxbuff[4] >> 4));
measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MAX, V_MIN, 12) +
measure->speed_aps = RAD_2_ANGLE * SPEED_SMOOTH_COEF * uint_to_float(tmp, V_MIN, V_MAX, 12) +
(1 - SPEED_SMOOTH_COEF) * measure->speed_aps;
tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MAX, T_MIN, 12) +
measure->real_current = CURRENT_SMOOTH_COEF * uint_to_float(tmp, T_MIN, T_MAX, 12) +
(1 - CURRENT_SMOOTH_COEF) * measure->real_current;
}

13
modules/motor/motor_def.h
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@@ -45,7 +45,7 @@ typedef enum
/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
typedef enum
{
MOTOR_FEED,
MOTOR_FEED=0,
OTHER_FEED,
} Feedback_Source_e;
@@ -94,11 +94,12 @@ typedef struct
/* 电机类型枚举 */
typedef enum
{
GM6020 = 0,
M3508 = 1,
M2006 = 2,
LK9025 = 3,
HT04 = 4,
MOTOR_TYPE_NONE = 0,
GM6020,
M3508,
M2006,
LK9025,
HT04,
} Motor_Type_e;
/**