TuxMonkey/bf_original_balance_chassis
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change all memory management to heap instead of stack

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This commit is contained in:
NeoZng
2022-10-20 21:38:48 +08:00
parent a3a95768e6
commit f46a463449
9 changed files with 64 additions and 74 deletions
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5
modules/motor/HT04.h
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@@ -22,7 +22,7 @@ typedef struct //HT04
float given_current;
PID_t pid;
can_instance motor_can_instace;
can_instance* motor_can_instace;
} joint_instance;
typedef enum
@@ -32,11 +32,10 @@ typedef enum
CMD_ZERO_POSITION = 0xfe
} joint_mode;
void HTMotorInit(joint_instance* _instance,CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
joint_instance* HTMotorInit(CAN_HandleTypeDef* _hcan,uint8_t tx_id,uint8_t rx_id);
void JointControl(joint_instance* _instance,float current);
void SetJointMode(joint_mode cmd,joint_instance* _instance);
void DecodeJoint(can_instance* motor_instance);
#endif // !HT04_H#define HT04_H