TuxMonkey/bf_original_balance_chassis
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kidneygood
2022-11-18 22:06:06 +08:00
parent 613939fe23
commit 611db0ded1
8 changed files with 716 additions and 3 deletions
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3
HAL_N_Middlewares/Src/main.c
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@@ -38,6 +38,7 @@
#include "can.h"
#include "dji_motor.h"
#include "motor_task.h"
#include "referee.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -125,6 +126,8 @@ int main(void)
.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);
referee_init(&huart6);
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */