TuxMonkey/bf_original_balance_chassis
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update some motor defs

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NeoZng
2022-10-30 22:19:13 +08:00
parent 5f59ebb916
commit 6441982964
11 changed files with 224 additions and 53 deletions
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4
modules/motor/HT04.c
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@@ -36,11 +36,11 @@ static void DecodeJoint(can_instance* motor_instance)
}
}
joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id)
joint_instance* HTMotorInit(can_instance_config config)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
joint_motor_info[idx++]->motor_can_instace=CANRegister(tx_id,rx_id,_hcan,DecodeJoint);
joint_motor_info[idx++]->motor_can_instace=CANRegister(config);
}
void JointControl(joint_instance* _instance,float current)