TuxMonkey/half-steering-basic-framework
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待测版本（ID修改完成）

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fcl
2026-03-10 19:10:47 +08:00
parent 69e97cbefa
commit 09802b3daa
4 changed files with 12 additions and 12 deletions
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2
application/gimbal/gimbal.c
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@@ -66,7 +66,7 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 4,
.tx_id = 4,//2
},
.controller_param_init_config = {
.angle_PID = {

8
application/shoot/shoot.c
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@@ -52,10 +52,10 @@ void ShootInit()
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_config.can_init_config.tx_id = 1,
friction_config.can_init_config.tx_id = 5,
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
friction_config.can_init_config.tx_id = 8; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
friction_r = DJIMotorInit(&friction_config);
@@ -63,7 +63,7 @@ void ShootInit()
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 5,
.tx_id = 7,
},
.controller_param_init_config = {
.angle_PID = {
@@ -96,7 +96,7 @@ void ShootInit()
.close_loop_type = CURRENT_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
},
.motor_type = M3508 // 英雄使用m3508
.motor_type = M2006 // 英雄使用m3508
};
loader = DJIMotorInit(&loader_config);