TuxMonkey/bf_original_balance_chassis
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修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

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NeoZng
2023-02-16 15:46:04 +08:00
parent b9a7d87dfd
commit a2a83f9fbf
35 changed files with 554 additions and 242 deletions
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TODO.md
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@@ -141,6 +141,7 @@
#### controller
- [x] 增加前馈数据
- [ ] 将PID的初始化改写为PIDRegister的形式,在controller统一分配内存.
#### user_lib
@@ -150,11 +151,22 @@
- [ ] 增加3508和2006的开环零位校准函数
- [ ] 为实例增加低通滤波系数变量，使不同电机有不同的配置
- [ ] 正反转标志位设置,需要修改反馈量和pid计算
#### LKmotor
- [ ] 正反转标志位设置,需要修改反馈量和pid计算
#### HTmotor
- [ ] 正反转标志位设置,需要修改反馈量和pid计算
### 待添加
#### unicomm
- [ ] 完成初版构建
#### step_motor
- [ ] 增加步进电机模块