TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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This commit is contained in:
NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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6
modules/motor/HT04.h
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@@ -22,8 +22,8 @@ typedef struct // HT04
float speed_rpm;
float given_current;
PID_t pid;
can_instance *motor_can_instace;
PIDInstance pid;
CANInstance *motor_can_instace;
} joint_instance;
typedef enum
@@ -33,7 +33,7 @@ typedef enum
CMD_ZERO_POSITION = 0xfe
} joint_mode;
joint_instance *HTMotorInit(can_instance_config_s config);
joint_instance *HTMotorInit(CAN_Init_Config_s config);
void JointControl(joint_instance *_instance, float current);