TuxMonkey/half-steering-basic-framework
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摩擦轮，拨盘 driver

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guoxy06
2026-03-18 21:08:49 +08:00
parent caec6bb497
commit d0faf90d5e
2 changed files with 16 additions and 9 deletions
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8
application/shoot/shoot.c
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@@ -27,7 +27,7 @@ void ShootInit()
},
.controller_param_init_config = {
.speed_PID = {
.Kp = 0, // 20
.Kp = 20, // 20
.Ki = 0, // 1
.Kd = 0,
.Improve = PID_Integral_Limit,
@@ -52,10 +52,10 @@ void ShootInit()
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_config.can_init_config.tx_id = 3,
friction_config.can_init_config.tx_id = 8,
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 4; // 右摩擦轮,改txid和方向就行
friction_config.can_init_config.tx_id = 5; // 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 = {