TuxMonkey/bf_original_balance_chassis
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修改了bsp_usart的初始化方式,防止出现变包长数据读取一场的问题.增加了注释.

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This commit is contained in:
NeoZeng
2022-11-19 16:28:39 +08:00
parent 269b08f701
commit e3137d867f
8 changed files with 85 additions and 93 deletions
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3
modules/motor/dji_motor.c
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@@ -209,6 +209,7 @@ void DJIMotorControl()
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
// pid_ref会顺次通过被启用的环充当数据的载体
if (motor_setting->close_loop_type & ANGLE_LOOP) // 计算位置环
{
if (motor_setting->angle_feedback_source == OTHER_FEED)
@@ -233,7 +234,7 @@ void DJIMotorControl()
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
}
set = (int16_t)motor_controller->pid_ref;
set = (int16_t)motor_controller->pid_ref; // 获取最终输出
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
set *= -1;