TuxMonkey/bf_original_balance_chassis
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发布beta版本,目前基本功能都可用

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NeoZng
2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
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2
modules/motor/HT04.c
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@@ -30,7 +30,7 @@ static void DecodeJoint(CANInstance *motor_instance)
tmp = (motor_instance->rx_buff[3] << 4) | (motor_instance->rx_buff[4] >> 4);
joint_motor_info[i]->speed_rpm = uint_to_float(tmp, V_MAX, V_MIN, 12);
tmp = ((motor_instance->rx_buff[4] & 0xf) << 8) | motor_instance->rx_buff[5];
joint_motor_info[i]->given_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
joint_motor_info[i]->real_current = uint_to_float(tmp, T_MAX, T_MIN, 12);
break;
}
}