TuxMonkey/half-steering-basic-framework
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fcl
2026-03-11 20:37:35 +08:00
committed by guoxy06
parent dc0d98d0a6
commit bd9314aa7a
4 changed files with 11 additions and 11 deletions
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2
application/chassis/chassis.c
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@@ -177,7 +177,7 @@ void ChassisInit()
cap = SuperCapInit(&cap_conf); // 超级电容初始化 todo 控制
// （新增）设置超级电容功率补偿，例如补偿5W，可根据实际需求调整 todo 控制
// SuperCapSetPowerOffset(cap, 5);
SuperCapSetPowerOffset(cap, 5);
// 发布订阅初始化,如果为双板,则需要can comm来传递消息
#ifdef CHASSIS_BOARD

6
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 = 5,
friction_config.can_init_config.tx_id = 1,
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 8; // 右摩擦轮,改txid和方向就行
friction_config.can_init_config.tx_id = 2; // 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 = 7,
.tx_id = 5,
},
.controller_param_init_config = {
.angle_PID = {