TuxMonkey/bf_original_balance_chassis
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rm vofa/led,add bluetooth,change servo_motor

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chenfu
2023-12-02 11:29:18 +08:00
parent 817850a0a8
commit e42c77611b
19 changed files with 178 additions and 371 deletions
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9
application/gimbal/gimbal.c
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@@ -4,7 +4,7 @@
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"
#include "bmi088.h"
#include "bmi088.h"
static attitude_t *gimba_IMU_data; // 云台IMU数据
@@ -15,9 +15,12 @@ static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
//static BMI088Instance *bmi088; // 云台IMU
void GimbalInit()
{
{
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// bmi088=BMI088Register(&imu_config);
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
@@ -146,7 +149,7 @@ void GimbalTask()
// ...
// 设置反馈数据,主要是imu和yaw的ecd
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
//gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
// 推送消息