TuxMonkey/bf_original_balance_chassis
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增加了daemon模块

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NeoZng
2022-12-08 17:36:12 +08:00
parent f043d5e265
commit c1a22e6f68
12 changed files with 157 additions and 106 deletions
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93
application/chassis/chassis.c
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@@ -57,12 +57,9 @@ static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出
void ChassisInit()
{
// 左前轮
Motor_Init_Config_s left_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 1,
},
// 四个轮子的参数一样,改tx_id和反转标志位即可
Motor_Init_Config_s chassis_motor_config = {
.can_init_config.can_handle=&hcan2,
.controller_param_init_config = {
.speed_PID = {
@@ -76,80 +73,24 @@ void ChassisInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右前轮
Motor_Init_Config_s right_foward_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 2,
},
.controller_param_init_config = {
.speed_PID = {
chassis_motor_config.can_init_config.tx_id=1;
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
motor_lf = DJIMotorInit(&chassis_motor_config);
},
.current_PID = {
chassis_motor_config.can_init_config.tx_id=2,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
motor_rf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id=3,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
motor_lb = DJIMotorInit(&chassis_motor_config);
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 左后轮
Motor_Init_Config_s left_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 3,
},
.controller_param_init_config = {
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
// 右后轮
Motor_Init_Config_s right_back_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 4,
},
.controller_param_init_config = {
.speed_PID = {
},
.current_PID = {
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = M3508};
motor_lf = DJIMotorInit(&left_foward_config);
motor_rf = DJIMotorInit(&right_foward_config);
motor_lb = DJIMotorInit(&left_back_config);
motor_rb = DJIMotorInit(&right_back_config);
chassis_motor_config.can_init_config.tx_id=4,
chassis_motor_config.controller_setting_init_config.reverse_flag=MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6);