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臂电机读数ok

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Feelyx 2026-01-12 23:57:29 +08:00
parent 35cf664580
commit e53121558c
3 changed files with 14 additions and 14 deletions
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14
User/module/arm.cpp
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@ -4,22 +4,22 @@
Arm::Arm(){ Arm::Arm(){
dm_motor_params[0] = MOTOR_DM_Param_t{ dm_motor_params[0] = MOTOR_DM_Param_t{
.can = BSP_CAN_1, .can = BSP_CAN_1,
.master_id = 0x11, .master_id = 0x14,
.can_id = 1, .can_id = 0x04,
.module = MOTOR_DM_J4310, .module = MOTOR_DM_J4310,
.reverse = false .reverse = false
}; };
dm_motor_params[1] = MOTOR_DM_Param_t{ dm_motor_params[1] = MOTOR_DM_Param_t{
.can = BSP_CAN_1, .can = BSP_CAN_1,
.master_id = 0x12, .master_id = 0x15,
.can_id = 1, .can_id = 0x05,
.module = MOTOR_DM_J4310, .module = MOTOR_DM_J4310,
.reverse = false .reverse = false
}; };
dm_motor_params[2] = MOTOR_DM_Param_t{ dm_motor_params[2] = MOTOR_DM_Param_t{
.can = BSP_CAN_1, .can = BSP_CAN_1,
.master_id = 0x13, .master_id = 0x16,
.can_id = 1, .can_id = 0x06,
.module = MOTOR_DM_J4310, .module = MOTOR_DM_J4310,
.reverse = false .reverse = false
}; };
@ -97,7 +97,7 @@ void Arm::operator()(){
arm_output[0].kd = 1.0f; arm_output[0].kd = 1.0f;
// MOTOR_DM_MITCtrl(&dm_motor_params[0], &arm_output[0]); // MOTOR_DM_MITCtrl(&dm_motor_params[0], &arm_output[0]);
arm_state = MOTOR_LZ_Relax(&lz_motor_params[0]); MOTOR_LZ_Relax(&lz_motor_params[0]);
BSP_TIME_Delay(2); BSP_TIME_Delay(2);
MOTOR_LZ_Relax(&lz_motor_params[1]); MOTOR_LZ_Relax(&lz_motor_params[1]);
BSP_TIME_Delay(2); BSP_TIME_Delay(2);

2
User/module/arm.hpp
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@ -20,5 +20,5 @@ private:
MOTOR_LZ_t arm_lz_motor[3]; MOTOR_LZ_t arm_lz_motor[3];
MOTOR_LZ_MotionParam_t arm_lz_motion[3]; MOTOR_LZ_MotionParam_t arm_lz_motion[3];
MOTOR_MIT_Output_t arm_output[3]; MOTOR_MIT_Output_t arm_output[3];
int8_t arm_state = 1;
}; };

12
User/module/chassis.cpp
View File

@ -3,28 +3,28 @@
Chassis::Chassis() { Chassis::Chassis() {
motors_param[0] = { motors_param[0] = {
.can = BSP_CAN_1, .can = BSP_CAN_2,
.id = 0x206, .id = 0x201,
.module = MOTOR_GM6020, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}; };
motors_param[1] = { motors_param[1] = {
.can = BSP_CAN_1, .can = BSP_CAN_2,
.id = 0x202, .id = 0x202,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}; };
motors_param[2] = { motors_param[2] = {
.can = BSP_CAN_1, .can = BSP_CAN_2,
.id = 0x203, .id = 0x203,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}; };
motors_param[3] = { motors_param[3] = {
.can = BSP_CAN_1, .can = BSP_CAN_2,
.id = 0x204, .id = 0x204,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,