TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
modules/motor/HT04.c
View File

@@ -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;
}