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add DM motor drv dwt delay times

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TuxMonkey
2026-03-05 12:23:34 +08:00
parent 483d5f0ac4
commit cf161df939
1 changed files with 3 additions and 3 deletions
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6
User_Code/module/motor/can_motors/dm_motor/dm_motor.c
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@@ -89,7 +89,7 @@ static void DMMotorLostCallback(void *motor_ptr)
void DMMotorCaliEncoder(DMMotorInstance *motor) void DMMotorCaliEncoder(DMMotorInstance *motor)
{ {
DMMotorSetMode(DM_CMD_ZERO_POSITION, motor); DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
DWT_Delay(0.1); DWT_Delay(1);
} }
DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config) DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
{ {
@@ -119,9 +119,9 @@ DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
DMMotorEnable(motor); DMMotorEnable(motor);
DMMotorSetMode(DM_CMD_MOTOR_MODE, motor); DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
DWT_Delay(0.1); DWT_Delay(1);
DMMotorCaliEncoder(motor); DMMotorCaliEncoder(motor);
DWT_Delay(0.1); DWT_Delay(1);
dm_motor_instance[idx++] = motor; dm_motor_instance[idx++] = motor;
return motor; return motor;
} }