TuxMonkey/bf_original_balance_chassis
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重要更新

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This commit is contained in:
NeoZeng
2022-11-16 15:29:01 +08:00
parent da58f5c25f
commit 5a0335838e
9 changed files with 73 additions and 53 deletions
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20
HAL_N_Middlewares/Src/main.c
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@@ -122,24 +122,8 @@ int main(void)
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.speed_feedback_source = MOTOR_FEED,
.reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.current_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000},
.speed_PID = {
.Improve = 0,
.Kp = 1,
.Ki = 0,
.Kd = 0,
.DeadBand = 0,
.MaxOut = 4000}}};
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | CURRENT_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.current_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
dji_motor_instance *djimotor = DJIMotorInit(config);
/* USER CODE END 2 */