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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4
modules/motor/LKmotor/LK9025.c
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@@ -104,10 +104,10 @@ void LKMotorControl()
else
pid_measure = measure->speed_rads;
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
}
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
if (setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);