can2我c你的

User/module/arm.cpp

@@ -0,0 +1,122 @@
+#include "module/arm.hpp"
+#include "bsp/time.h"
+
+Arm::Arm(){
+    dm_motor_params[0] = MOTOR_DM_Param_t{
+        .can = BSP_CAN_1,
+        .master_id = 0x11,
+        .can_id = 1,
+        .module = MOTOR_DM_J4310,
+        .reverse = false
+    };
+    dm_motor_params[1] = MOTOR_DM_Param_t{
+        .can = BSP_CAN_1,
+        .master_id = 0x12,
+        .can_id = 1,
+        .module = MOTOR_DM_J4310,
+        .reverse = false
+    };
+    dm_motor_params[2] = MOTOR_DM_Param_t{
+        .can = BSP_CAN_1,
+        .master_id = 0x13,
+        .can_id = 1,
+        .module = MOTOR_DM_J4310,
+        .reverse = false
+    };
+    lz_motor_params[0] = MOTOR_LZ_Param_t{
+        .can = BSP_CAN_1,
+        .motor_id = 127,
+        .host_id = 0xff,
+        .module= MOTOR_LZ_RSO3,
+        .reverse = false,
+        .mode = MOTOR_LZ_MODE_MOTION
+    };
+    lz_motor_params[1] = MOTOR_LZ_Param_t{
+        .can = BSP_CAN_1,
+        .motor_id = 126,
+        .host_id = 0xff,
+        .module= MOTOR_LZ_RSO3,
+        .reverse = false,
+        .mode = MOTOR_LZ_MODE_MOTION
+    };
+    lz_motor_params[2] = MOTOR_LZ_Param_t{
+        .can = BSP_CAN_1,
+        .motor_id = 125,
+        .host_id = 0xff,
+        .module= MOTOR_LZ_RSO3,
+        .reverse = false,
+        .mode = MOTOR_LZ_MODE_MOTION
+    };
+}
+
+void Arm::init(){
+    MOTOR_LZ_Init();
+    MOTOR_LZ_Register(&lz_motor_params[0]);
+    MOTOR_LZ_Enable(&lz_motor_params[0]);
+    BSP_TIME_Delay(2);
+    MOTOR_LZ_Register(&lz_motor_params[1]);
+    MOTOR_LZ_Enable(&lz_motor_params[1]);
+    BSP_TIME_Delay(2);
+    MOTOR_LZ_Register(&lz_motor_params[2]);
+    MOTOR_LZ_Enable(&lz_motor_params[2]);
+    BSP_TIME_Delay(2);
+
+    MOTOR_DM_Register(&dm_motor_params[0]);
+    MOTOR_DM_Enable(&dm_motor_params[0]);
+    BSP_TIME_Delay(2);
+    MOTOR_DM_Register(&dm_motor_params[1]);
+    MOTOR_DM_Enable(&dm_motor_params[1]);
+    BSP_TIME_Delay(2);
+    MOTOR_DM_Register(&dm_motor_params[2]);
+    MOTOR_DM_Enable(&dm_motor_params[2]);
+    BSP_TIME_Delay(2);
+
+}
+
+void Arm::operator()(){
+    MOTOR_DM_Relax(&dm_motor_params[0]);
+    BSP_TIME_Delay(2);
+    MOTOR_DM_Relax(&dm_motor_params[1]);
+    BSP_TIME_Delay(2);
+    MOTOR_DM_Relax(&dm_motor_params[2]);
+    BSP_TIME_Delay(2);
+
+    MOTOR_DM_UpdateAll();
+
+    MOTOR_DM_t *motor_dm = NULL;
+    motor_dm = MOTOR_DM_GetMotor(&dm_motor_params[0]);
+    arm_dm_motor[0] = *motor_dm;
+    motor_dm = MOTOR_DM_GetMotor(&dm_motor_params[1]);
+    arm_dm_motor[1] = *motor_dm;
+    motor_dm = MOTOR_DM_GetMotor(&dm_motor_params[2]);
+    arm_dm_motor[2] = *motor_dm;
+
+    arm_output[0].angle = 1.0f;
+    arm_output[0].velocity = 1.0f;
+    arm_output[0].kp = 0.5f;
+    arm_output[0].kd = 1.0f;
+    // MOTOR_DM_MITCtrl(&dm_motor_params[0], &arm_output[0]);
+
+    arm_state = MOTOR_LZ_Relax(&lz_motor_params[0]);
+    BSP_TIME_Delay(2);
+    MOTOR_LZ_Relax(&lz_motor_params[1]);
+    BSP_TIME_Delay(2);
+    MOTOR_LZ_Relax(&lz_motor_params[2]);
+    BSP_TIME_Delay(2);
+
+    MOTOR_LZ_UpdateAll();
+
+    MOTOR_LZ_t *motor_lz = NULL;
+    motor_lz = MOTOR_LZ_GetMotor(&lz_motor_params[0]);
+    arm_lz_motor[0] = *motor_lz;
+    motor_lz = MOTOR_LZ_GetMotor(&lz_motor_params[1]);
+    arm_lz_motor[1] = *motor_lz;
+    motor_lz = MOTOR_LZ_GetMotor(&lz_motor_params[2]);
+    arm_lz_motor[2] = *motor_lz;
+    // arm_lz_motion[0].target_angle = 1.0f;
+    arm_lz_motion[0].target_velocity = 1.0f;
+    // arm_lz_motion[0].kp = 0.5f;
+    arm_lz_motion[0].kd = 0.5f;
+    // MOTOR_LZ_MotionControl(&lz_motor_params[0], &arm_lz_motion[0]);
+
+}

User/module/arm.hpp

@@ -6,6 +6,7 @@
 #include "device/motor_lz.h"
 #include "device/motor_rm.h"
 #include "device/motor_dm.h"
+#include <stdint.h>
 
 class Arm {
 public:
@@ -13,6 +14,11 @@ public:
     void init();
     void operator()();
 private:
-    MOTOR_DM_Param_t motors_param[4];
+    MOTOR_DM_Param_t dm_motor_params[3];
-    MOTOR_t arm_motors[4];
+    MOTOR_DM_t arm_dm_motor[3];
+    MOTOR_LZ_Param_t lz_motor_params[3];
+    MOTOR_LZ_t arm_lz_motor[3];
+    MOTOR_LZ_MotionParam_t arm_lz_motion[3];
+    MOTOR_MIT_Output_t arm_output[3];
+    int8_t arm_state = 1;
 };

User/module/chassis.cpp

@@ -1,13 +1,11 @@
 #include "module/chassis.hpp"
-#include "bsp/can.h"
-#include "device/motor_rm.h"
 
 
 Chassis::Chassis() {
     motors_param[0] = {
         .can = BSP_CAN_1,
-        .id = 0x201,
+        .id = 0x206,
-        .module = MOTOR_M3508,
+        .module = MOTOR_GM6020,
         .reverse = false,
         .gear = true
     };
@@ -35,7 +33,6 @@ Chassis::Chassis() {
 }
 
 void Chassis::init() {
-    BSP_CAN_Init();
     MOTOR_RM_Register(&motors_param[0]);
     MOTOR_RM_Register(&motors_param[1]);
     MOTOR_RM_Register(&motors_param[2]);

User/task/ctrl_arm.cpp

@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "module/arm.hpp"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+Arm arm;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +30,13 @@ void Task_ctrl_arm(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  arm.init();
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    arm();
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/init.c

@@ -7,7 +7,7 @@
 #include "task/user_task.h"
 
 /* USER INCLUDE BEGIN */
-
+#include "bsp/can.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -25,7 +25,7 @@
 void Task_Init(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
     /* USER CODE INIT BEGIN */
-
+    BSP_CAN_Init();
     /* USER CODE INIT END */
   osKernelLock(); /* 锁定内核，防止任务切换 */