TuxMonkey/bf_original_balance_chassis
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修改doc存放位置，增加代码静态检查，完成了README文档，修复了.assets图片分辨率低的问题

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This commit is contained in:
NeoZng
2023-07-25 16:12:38 +08:00
parent fa4a78a7a1
commit cdb1d209fc
22 changed files with 210 additions and 81 deletions
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8
modules/motor/HTmotor/HT04.c
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@@ -48,7 +48,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
static void HTMotorDecode(CANInstance *motor_can)
{
uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
uint8_t *rxbuff = motor_can->rx_buff;
uint8_t const *rxbuff = motor_can->rx_buff;
HTMotorInstance *motor = (HTMotorInstance *)motor_can->id;
HTMotor_Measure_t *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
@@ -127,9 +127,9 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
HTMotorEnable(motor);
HTMotorSetMode(CMD_MOTOR_MODE, motor); // 确保电机已经上电并执行电机模式
DWT_Delay(0.05);
DWT_Delay(0.05f);
HTMotorCalibEncoder(motor); // 将当前编码器位置作为零位
DWT_Delay(0.05); // 保证下一个电机发送时CAN是空闲的,注意应用在初始化模块的时候不应该进入中断
DWT_Delay(0.05f); // 保证下一个电机发送时CAN是空闲的,注意应用在初始化模块的时候不应该进入中断
ht_motor_instance[idx++] = motor;
return motor;
}
@@ -143,7 +143,7 @@ void HTMotorSetRef(HTMotorInstance *motor, float ref)
* @brief 为了避免总线堵塞,为每个电机创建一个发送任务
* @param argument 传入的电机指针
*/
void HTMotorTask(void const *argument)
__attribute__((noreturn)) void HTMotorTask(void const *argument)
{
float set, pid_measure, pid_ref;
HTMotorInstance *motor = (HTMotorInstance *)argument;