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

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This commit is contained in:
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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10
modules/motor/DMmotor/dmmotor.c
View File

@@ -115,14 +115,16 @@ void DMMotorOuterLoop(DMMotorInstance *motor, Closeloop_Type_e type)
motor->motor_settings.outer_loop_type = type;
}
//@Todo: 目前只实现了力控，更多位控PID等请自行添加
void DMMotorTask(void const *argument)
{
float pid_measure, pid_ref, set;
float pid_ref, set;
DMMotorInstance *motor = (DMMotorInstance *)argument;
DM_Motor_Measure_s *measure = &motor->measure;
//DM_Motor_Measure_s *measure = &motor->measure;
Motor_Control_Setting_s *setting = &motor->motor_settings;
CANInstance *motor_can = motor->motor_can_instace;
uint16_t tmp;
//CANInstance *motor_can = motor->motor_can_instace;
//uint16_t tmp;
DMMotor_Send_s motor_send_mailbox;
while (1)
{

6
modules/motor/DMmotor/dmmotor.h
View File

@@ -8,11 +8,11 @@
#define DM_MOTOR_CNT 4
#define DM_P_MIN -12.5f
#define DM_P_MIN (-12.5f)
#define DM_P_MAX 12.5f
#define DM_V_MIN -45.0f
#define DM_V_MIN (-45.0f)
#define DM_V_MAX 45.0f
#define DM_T_MIN -18.0f
#define DM_T_MIN (-18.0f)
#define DM_T_MAX 18.0f
typedef struct