TuxMonkey/bf_original_balance_chassis
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finish the beta version of dji_motor

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This commit is contained in:
NeoZng
2022-10-31 20:20:16 +08:00
parent 3dd4f1066c
commit c113ca81e0
20 changed files with 618 additions and 1137 deletions
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6
modules/motor/HT04.c
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@@ -40,7 +40,7 @@ joint_instance* HTMotorInit(can_instance_config config)
{
static uint8_t idx;
joint_motor_info[idx]=(joint_instance*)malloc(sizeof(joint_instance));
joint_motor_info[idx++]->motor_can_instace=CANRegister(config);
CANRegister(&joint_motor_info[idx++]->motor_can_instace,config);
}
void JointControl(joint_instance* _instance,float current)
@@ -50,7 +50,7 @@ void JointControl(joint_instance* _instance,float current)
tmp = float_to_uint(current, T_MIN, T_MAX, 12);
_instance->motor_can_instace->rx_buff[6] = tmp>>8;
_instance->motor_can_instace->rx_buff[7] = tmp&0xff;
CANTransmit(&_instance->motor_can_instace);
CANTransmit(_instance->motor_can_instace);
}
void SetJointMode(joint_mode cmd,joint_instance* _instance)
@@ -58,5 +58,5 @@ void SetJointMode(joint_mode cmd,joint_instance* _instance)
static uint8_t buf[8] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0x00};
buf[7]=(uint8_t)cmd;
memcpy(_instance->motor_can_instace->rx_buff,buf,8*sizeof(uint8_t));
CANTransmit(&_instance->motor_can_instace);
CANTransmit(_instance->motor_can_instace);
}