TuxMonkey/half-steering-basic-framework
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guoxy06
2026-08-29 19:55:45 +08:00
parent 2b18d60476
commit c40525234f
5 changed files with 72 additions and 22 deletions
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9
application/chassis/chassis.c
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@@ -147,7 +147,7 @@ void ChassisInit()
};
chassis_motor_steering_config.can_init_config.tx_id = 2;
motor_steering_rf = DJIMotorInit(&chassis_motor_steering_config);
motor_steering_rf = DJIMotorInit(&chassis_motor_steering_config);///
chassis_motor_steering_config.can_init_config.tx_id = 1;
motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config);
@@ -164,11 +164,11 @@ void ChassisInit()
.MaxOut = 50,
// .Derivative_LPF_RC = 0.01, // 0.01
};
PIDInit(&chassis_follow_pid, &chassis_follow_pid_conf);
PIDInit(&chassis_follow_pid, &chassis_follow_pid_conf);////
// 裁判系统初始化
referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI//
SuperCap_Init_Config_s cap_conf = {
.can_config = {
@@ -391,7 +391,6 @@ void ChassisTask() {
DJIMotorEnable(motor_steering_rf);
DJIMotorEnable(motor_steering_lb);
}
// 根据控制模式设定旋转速度
switch (chassis_cmd_recv.chassis_mode)
{
@@ -403,7 +402,7 @@ void ChassisTask() {
float single_round_offset = chassis_cmd_recv.offset_angle;
if(single_round_offset > 180.0f)
{
single_round_offset -= 360.0f;
single_round_offset -= 360.0f;///
}
else if(single_round_offset < -180.0f)
{