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/LKmotor/LK9025.c
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@@ -113,7 +113,7 @@ void LKMotorControl()
}
set = pid_ref;
if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
// 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));