TuxMonkey/bf_original_balance_chassis
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finish basic dji motor

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NeoZng
2022-10-31 12:14:47 +08:00
parent 6441982964
commit 3dd4f1066c
7 changed files with 226 additions and 128 deletions
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5
modules/motor/LK9025.c
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@@ -18,11 +18,12 @@ static void DecodeDriven(can_instance* _instance)
}
}
driven_instance* LKMotroInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
driven_instance* LKMotroInit(can_instance_config config)
{
static uint8_t idx;
driven_motor_info[idx]=(driven_instance*)malloc(sizeof(driven_instance));
driven_motor_info[idx++]->motor_can_instance=CANRegister(tx_id,rx_id,_hcan,DecodeDriven);
config.can_module_callback=DecodeDriven;
driven_motor_info[idx++]->motor_can_instance=CANRegister(config);
}
void DrivenControl(int16_t motor1_current,int16_t motor2_current)