TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

add motor_task.c

Browse Source
This commit is contained in:
NeoZng
2022-10-20 21:14:17 +08:00
parent 78f85b7fda
commit a3a95768e6
12 changed files with 204 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
modules/motor/LK9025.h
View File

@@ -3,6 +3,7 @@
#include "struct_typedef.h"
#include "bsp_can.h"
#include "controller.h"
#define LK_MOTOR_CNT 2
#define I_MIN -2000
@@ -17,7 +18,10 @@ typedef struct //9025
int16_t speed_rpm;
int16_t given_current;
uint8_t temperate;
PID_t pid;
can_instance motor_can_instance;
} driven_instance;
typedef enum
@@ -25,12 +29,10 @@ typedef enum
unused = 0,
} driven_mode;
void LKMotroInit(uint16_t motor_id,uint16_t rx_id,CAN_HandleTypeDef* hcan);
void LKMotroInit(driven_instance* instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void DrivenControl(int16_t motor1_current,int16_t motor2_current);
void SetDrivenMode(driven_mode cmd,uint16_t motor_id);
void DecodeDriven(can_instance* _instance);
#endif // LK9025_H