TuxMonkey/bf_original_balance_chassis
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mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
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修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

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This commit is contained in:
chenfu
2023-03-22 16:37:12 +08:00
parent 3cf1831237
commit 58db6e5705
25 changed files with 231 additions and 145 deletions
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2
modules/motor/HTmotor/HT04.c
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@@ -137,7 +137,7 @@ 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