TuxMonkey/bf_original_balance_chassis
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增加了电机前馈控制,更新readme，加快ins速度，删除了工程和平衡底盘相关的app

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This commit is contained in:
NeoZng
2023-05-19 14:45:48 +08:00
parent ecb56ef935
commit a18a5091f4
27 changed files with 97 additions and 97 deletions
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2
Src/freertos.c
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@@ -170,7 +170,7 @@ void StartINSTASK(void const *argument)
{
// 1kHz
INS_Task();
VisionSend(); // 解算完成后发送视觉数据
VisionSend(); // 解算完成后发送视觉数<EFBFBD><EFBFBD>?
osDelay(1);
}
}

2
Src/spi.c
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@@ -49,7 +49,7 @@ void MX_SPI1_Init(void)
hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;