TuxMonkey/bf_original_balance_chassis
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Codex generated changes:

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1.stool-mode
2.INS direction changes
not tested,not ok
This commit is contained in:
TuxMonkey
2026-07-14 01:07:48 +08:00
parent a4ebc4b452
commit 8a13444e48
7 changed files with 286 additions and 198 deletions
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8
modules/motor/DMmotor/dmmotor.c
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@@ -65,8 +65,7 @@ static void DMMotorDecode(CANInstance *motor_can)
static void DMMotorLostCallback(void *motor_ptr)
{
DMMotorInstance *motor = (DMMotorInstance *)motor_ptr;
DMMotorEnable(motor);
DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
DMMotorStop(motor);
}
void DMMotorCaliEncoder(DMMotorInstance *motor)
@@ -131,17 +130,16 @@ void DMMotorTask(void const *argument)
Motor_Control_Setting_s *setting;
DMMotor_Send_s motor_send_mailbox;
portTickType currentTime;
const portTickType xFrequency = pdMS_TO_TICKS(4);
while (1)
{
currentTime = xTaskGetTickCount();
set = motor->pid_ref;
measure = &motor->measure;
setting = &motor->motor_settings;
if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
measure = &motor->measure;
setting = &motor->motor_settings;
if ((setting->close_loop_type & ANGLE_LOOP) && (setting->outer_loop_type & ANGLE_LOOP))
{
if (setting->angle_feedback_source == OTHER_FEED)