TuxMonkey/bf_original_balance_chassis
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add log.c

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This commit is contained in:
NeoZng
2022-11-11 21:20:58 +08:00
parent a1509ee665
commit ebb33406bb
15 changed files with 3824 additions and 9 deletions
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4
modules/motor/dji_motor.c
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@@ -231,13 +231,13 @@ void DJIMotorControl()
motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
}
if (motor_setting->close_loop_type & CURRENT_LOOP) //计算电流环
if (motor_setting->close_loop_type & CURRENT_LOOP) // 计算电流环
{
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;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) //设置反转
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
set *= -1;
// 分组填入发送数据

9
modules/motor/dji_motor.h
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@@ -4,9 +4,14 @@
* @brief DJI智能电机头文件
* @version 0.1
* @date 2022-11-01
*
*
* @todo 1. 给不同的电机设置不同的低通滤波器惯性系数而不是统一使用宏
2. 当前电机初始化函数`DJIMotorInit()`稍显凌乱,
应设置一个`dji_motor_init_config_s`结构体用于电机初始化,使得风格统一,提高可读性
3. 为M2006和M3508增加开环的零位校准函数
* @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
*
*
*/
#ifndef DJI_MOTOR_H

1
modules/motor/dji_motor.md
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@@ -6,6 +6,7 @@
>
> 1. 给不同的电机设置不同的低通滤波器惯性系数而不是统一使用宏
> 2. 当前电机初始化函数`DJIMotorInit()`稍显凌乱，应设置一个`dji_motor_init_config_s`结构体用于电机初始化，使得风格统一，提高可读性
> 3. 为M2006和M3508增加开环的零位校准函数