TuxMonkey/bf_original_balance_chassis
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Merge branch 'master' of gitee.com:hnuyuelurm/basic_framework

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NeoZng
2023-03-23 18:22:33 +08:00
parent 41d033e3f8 cce87bcccd
commit 57a5ec33b9
22 changed files with 191 additions and 115 deletions
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modules/motor/HTmotor/HT04.c
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@@ -134,7 +134,7 @@ void HTMotorControl()
}
set = pid_ref;
if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
LIMIT_MIN_MAX(set, T_MIN, T_MAX); // 限幅,实际上这似乎和pid输出限幅重复了