TuxMonkey/bf_original_balance_chassis
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修复电机丢失保护

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This commit is contained in:
kai
2024-05-24 18:39:06 +08:00
parent 613510642c
commit a7dc01af5c
4 changed files with 11 additions and 11 deletions
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14
application/chassis/balance.c
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@@ -229,13 +229,13 @@ static uint8_t DrivenMotorIsLost()
/* 切换底盘遥控器控制和云台双板控制 */ /* 切换底盘遥控器控制和云台双板控制 */
static void ControlSwitch() static void ControlSwitch()
{ {
// // 根据裁判系统底盘输出电压设定底盘状态 // 根据裁判系统底盘输出电压设定底盘状态
// float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001; float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
// if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost()) if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
// { {
// chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停 chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
// return; return;
// } }
// // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令 // // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
// if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline()) // if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())

4
application/robot_def.h
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@@ -18,8 +18,8 @@
/* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */ /* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
// #define ONE_BOARD // 单板控制整车 // #define ONE_BOARD // 单板控制整车
// #define CHASSIS_BOARD //底盘板 #define CHASSIS_BOARD //底盘板
#define GIMBAL_BOARD //云台板 // #define GIMBAL_BOARD //云台板
#define VISION_USE_VCP // 使用虚拟串口发送视觉数据 #define VISION_USE_VCP // 使用虚拟串口发送视觉数据
// #define VISION_USE_UART // 使用串口发送视觉数据 // #define VISION_USE_UART // 使用串口发送视觉数据

2
modules/motor/HTmotor/HT04.c
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@@ -121,7 +121,7 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s conf = { Daemon_Init_Config_s conf = {
.callback = HTMotorLostCallback, .callback = HTMotorLostCallback,
.owner_id = motor, .owner_id = motor,
.reload_count = 5, // 50ms .reload_count = 50, // 50ms
}; };
motor->motor_daemon = DaemonRegister(&conf); motor->motor_daemon = DaemonRegister(&conf);

2
modules/motor/LKmotor/LK9025.c
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@@ -82,7 +82,7 @@ LKMotorInstance *LKMotorInit(Motor_Init_Config_s *config)
Daemon_Init_Config_s daemon_config = { Daemon_Init_Config_s daemon_config = {
.callback = LKMotorLostCallback, .callback = LKMotorLostCallback,
.owner_id = motor, .owner_id = motor,
.reload_count = 5, // 50ms .reload_count = 50, // 50ms
}; };
motor->daemon = DaemonRegister(&daemon_config); motor->daemon = DaemonRegister(&daemon_config);