TuxMonkey/bf_original_balance_chassis
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更新了todo列表

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NeoZng
2023-01-08 21:02:02 +08:00
parent 3db2a20a0e
commit 7b5512fb92
7 changed files with 61 additions and 79 deletions
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14
modules/motor/HTmotor/HT04.c
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@@ -6,7 +6,7 @@ static uint8_t idx;
HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
/**
* @brief
* @brief
*
* @param cmd
* @param motor
@@ -111,24 +111,28 @@ void HTMotorControl()
pid_measure = *motor->other_angle_feedback_ptr;
else
pid_measure = measure->real_current;
pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor->speed_feedforward_ptr;
}
if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
{
if (setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor->speed_feedforward_ptr;
if (setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor->other_speed_feedback_ptr;
else
pid_measure = measure->speed_aps;
pid_ref = PID_Calculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
}
if (setting->close_loop_type & CURRENT_LOOP)
{
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
}