TuxMonkey/bf_original_balance_chassis
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将底层的封装统一为相同的格式

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This commit is contained in:
NeoZeng
2022-11-28 17:54:07 +08:00
parent 8332422eac
commit f1301ab7de
17 changed files with 75 additions and 63 deletions
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13
HAL_N_Middlewares/Src/main.c
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@@ -41,6 +41,7 @@
#include "referee.h"
#include "ins_task.h"
#include "can_comm.h"
#include "master_process.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -143,7 +144,8 @@ int main(void)
volatile float tx = 32;
RefereeInit(&huart6);
Vision_Recv_s* recv=VisionInit(&huart1);
Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
@@ -160,14 +162,13 @@ int main(void)
while (1)
{
/* USER CODE END WHILE */
// DJIMotorSetRef(djimotor, 10);
// MotorControlTask();
DJIMotorSetRef(djimotor, 10);
MotorControlTask();
HAL_Delay(10);
CANCommSend(in, (uint8_t*)&tx);
tx+=1;
rx=(sdf*)CANCommGet(in);
rx=(sdf*)CANCommGet(in);
VisionSend(&send);
// INS_Task();
/* USER CODE BEGIN 3 */
}