TuxMonkey/bf_original_balance_chassis
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修复GM6020电机接收ID计算错误问题

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NeoZeng
2022-11-20 17:17:09 +08:00
parent 29877a4b64
commit 62b1783b59
1 changed files with 2 additions and 2 deletions
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4
modules/motor/dji_motor.c
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@@ -95,7 +95,7 @@ static void MotorSenderGrouping(can_instance_config_s *config)
motor_grouping = config->can_handle == &hcan1 ? 2 : 5; motor_grouping = config->can_handle == &hcan1 ? 2 : 5;
} }
config->rx_id = 0x204 + motor_id; config->rx_id = 0x204 + motor_id + 1;
sender_enable_flag[motor_grouping] = 1; sender_enable_flag[motor_grouping] = 1;
dji_motor_info[idx]->message_num = motor_send_num; dji_motor_info[idx]->message_num = motor_send_num;
dji_motor_info[idx]->sender_group = motor_grouping; dji_motor_info[idx]->sender_group = motor_grouping;
@@ -234,7 +234,7 @@ void DJIMotorControl()
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref); motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
} }
set = (int16_t)motor_controller->pid_ref; // 获取最终输出 set = (int16_t)motor_controller->pid_ref; // 获取最终输出
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转 if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
set *= -1; set *= -1;