TuxMonkey/bf_original_balance_chassis
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修复部分电机停转和反转的bug

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This commit is contained in:
kai
2024-04-30 16:41:08 +08:00
parent 6029d10698
commit 71086bb71e
5 changed files with 11 additions and 8 deletions
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2
modules/motor/DJImotor/dji_motor.c
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@@ -300,7 +300,7 @@ void DJIMotorControl()
// 若该电机处于停止状态,直接将buff置零
if (motor->stop_flag == MOTOR_STOP)
memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
memset(sender_assignment[group].tx_buff + 2 * num, 0, sizeof(uint16_t));
}
// 遍历flag,检查是否要发送这一帧报文

7
modules/motor/HTmotor/HT04.c
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@@ -121,7 +121,7 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s conf = {
.callback = HTMotorLostCallback,
.owner_id = motor,
.reload_count = 5, // 20ms
.reload_count = 5, // 50ms
};
motor->motor_daemon = DaemonRegister(&conf);
@@ -155,6 +155,9 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument)
while (1)
{
pid_ref = motor->pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref *= -1;
if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
{
if (setting->angle_feedback_source == OTHER_FEED)
@@ -186,8 +189,6 @@ __attribute__((noreturn)) void HTMotorTask(void const *argument)
}
set = pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
LIMIT_MIN_MAX(set, T_MIN, T_MAX);
tmp = float_to_uint(set, T_MIN, T_MAX, 12);

1
modules/motor/HTmotor/HT04.h
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@@ -11,6 +11,7 @@
#define CURRENT_SMOOTH_COEF 0.9f
#define SPEED_BUFFER_SIZE 5
#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s
#define TORQUE_COEF_HT 3.5 // 扭矩系数,单位N.m/A
#define P_MIN -95.5f // Radians
#define P_MAX 95.5f

7
modules/motor/LKmotor/LK9025.c
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@@ -104,6 +104,8 @@ void LKMotorControl()
measure = &motor->measure;
setting = &motor->motor_settings;
pid_ref = motor->pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref *= -1;
if ((setting->close_loop_type & ANGLE_LOOP) && setting->outer_loop_type == ANGLE_LOOP)
{
@@ -132,9 +134,8 @@ void LKMotorControl()
pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
}
set = pid_ref;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
set = (int16_t)pid_ref;
// 这里随便写的,为了兼容多电机命令.后续应该将tx_id以更好的方式表达电机id,单独使用一个CANInstance,而不是用第一个电机的CANInstance
memcpy(sender_instance->tx_buff + (motor->motor_can_ins->tx_id - 0x280) * 2, &set, sizeof(uint16_t));

2
modules/motor/LKmotor/LK9025.h
View File

@@ -15,7 +15,7 @@
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.003645f // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
#define CURRENT_TORQUE_COEF_LK 0.00512f // 电流设定值转换成扭矩的系数，这里对应的是16T
typedef struct // 9025
{