TuxMonkey/bf_original_balance_chassis
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增加了CANcomm的守护线程

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NeoZng
2023-04-21 13:48:25 +08:00
parent a196a9cb59 4658a0b5ea
commit eba6c4fe4f
3 changed files with 55 additions and 11 deletions
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38
application/balance_chassis/balance.c
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@@ -284,14 +284,35 @@ void BalanceInit()
Motor_Init_Config_s joint_conf = {
// 写一个,剩下的修改方向和id即可
.can_init_config = {
.can_handle = &hcan1,
},
.controller_param_init_config = {
.current_PID = {
.Kp = 1,
},
},
.controller_setting_init_config = {
.close_loop_type = CURRENT_LOOP,
.outer_loop_type = CURRENT_LOOP,
.motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
},
.motor_type = HT04,
};
joint_conf.can_init_config.tx_id = 1;
joint_conf.can_init_config.rx_id = 11;
lf = HTMotorInit(&joint_conf);
rf = HTMotorInit(&joint_conf);
joint_conf.can_init_config.tx_id = 2;
joint_conf.can_init_config.rx_id = 12;
lb = HTMotorInit(&joint_conf);
joint_conf.can_init_config.tx_id = 3;
joint_conf.can_init_config.rx_id = 13;
rf = HTMotorInit(&joint_conf);
joint_conf.can_init_config.tx_id = 4;
joint_conf.can_init_config.rx_id = 14;
rb = HTMotorInit(&joint_conf);
// ↓↓↓---------------驱动电机初始化----------------↓↓↓
@@ -300,10 +321,7 @@ void BalanceInit()
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.current_PID = {
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 500,
.Kp = 274.348,
},
},
.controller_setting_init_config = {
@@ -311,12 +329,12 @@ void BalanceInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = CURRENT_LOOP,
.close_loop_type = CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = LK9025,
};
driven_conf.can_init_config.tx_id = 1;
l_driven = LKMotorInit(&driven_conf);
driven_conf.can_init_config.tx_id = 2;
r_driven = LKMotorInit(&driven_conf);