TuxMonkey/bf_original_balance_chassis
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修复PID堵转检测错误，修复LK电机位置环计算错误，更新文档，修改了消息中心的命名（不影响app层）

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This commit is contained in:
NeoZng
2023-05-14 14:56:00 +08:00
parent 299073321b
commit ecb56ef935
12 changed files with 63 additions and 641 deletions
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2
modules/motor/LKmotor/LK9025.c
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@@ -91,7 +91,7 @@ void LKMotorControl()
if (setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor->other_angle_feedback_ptr;
else
pid_measure = measure->real_current;
pid_measure = measure->total_angle;
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & SPEED_FEEDFORWARD)
pid_ref += *motor->speed_feedforward_ptr;