TuxMonkey/bf_original_balance_chassis
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修复BMI088初始化异常,测试通过请尽快迁移到新版本。增加了电机的协议说明。

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This commit is contained in:
NeoZng
2023-02-20 18:34:23 +08:00
parent a2a83f9fbf
commit 7bb141af06
23 changed files with 212 additions and 96 deletions
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2
modules/algorithm/controller.c
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@@ -113,7 +113,7 @@ static void f_PID_ErrorHandle(PIDInstance *pid)
if (pid->ERRORHandler.ERRORCount > 500)
{
// Motor blocked over 1000times
pid->ERRORHandler.ERRORType = Motor_Blocked;
pid->ERRORHandler.ERRORType = PID_MOTOR_BLOCKED_ERROR;
}
}