diff --git a/Core/Src/main.c b/Core/Src/main.c
index 8fca7f2..244ccf3 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -80,8 +80,7 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
+ /* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init();
/* USER CODE BEGIN Init */
@@ -96,6 +95,7 @@ int main(void)
/* Initialize all configured peripherals */
MX_GPIO_Init();
+
MX_DMA_Init();
MX_SPI1_Init();
MX_TIM4_Init();
diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index b926ed6..a88a95b 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -103,7 +103,7 @@
1
0
0
- 3
+ 6
@@ -114,7 +114,7 @@
- BIN\CMSIS_AGDI.dll
+ STLink\ST-LINKIII-KEIL_SWO.dll
@@ -158,17 +158,42 @@
0
1
- afsa,0x10
+ raw,0x0A
1
1
- motor,0x0A
+ UP,0x0A
2
1
- CAN_RawTx_t
+ can,0x0A
+
+
+ 3
+ 1
+ can_out,0x0A
+
+
+ 4
+ 1
+ bbb,0x0A
+
+
+ 5
+ 1
+ aaa,0x0A
+
+
+ 6
+ 1
+ CCC
+
+
+ 7
+ 1
+ GO_motor_info
@@ -835,18 +860,6 @@
0
0
0
- ..\User\Module\Chassis.c
- Chassis.c
- 0
- 0
-
-
- 6
- 48
- 1
- 0
- 0
- 0
..\User\Module\config.c
config.c
0
@@ -854,7 +867,7 @@
6
- 49
+ 48
5
0
0
@@ -866,7 +879,7 @@
6
- 50
+ 49
1
0
0
@@ -886,7 +899,7 @@
0
7
- 51
+ 50
1
0
0
@@ -898,7 +911,7 @@
7
- 52
+ 51
1
0
0
@@ -910,7 +923,7 @@
7
- 53
+ 52
1
0
0
@@ -922,7 +935,7 @@
7
- 54
+ 53
1
0
0
@@ -934,7 +947,7 @@
7
- 55
+ 54
1
0
0
@@ -946,7 +959,7 @@
7
- 56
+ 55
1
0
0
@@ -958,7 +971,7 @@
7
- 57
+ 56
1
0
0
@@ -970,7 +983,7 @@
7
- 58
+ 57
1
0
0
@@ -982,7 +995,7 @@
7
- 59
+ 58
1
0
0
@@ -994,7 +1007,7 @@
7
- 60
+ 59
5
0
0
@@ -1006,7 +1019,7 @@
7
- 61
+ 60
1
0
0
@@ -1018,7 +1031,7 @@
7
- 62
+ 61
1
0
0
@@ -1030,7 +1043,7 @@
7
- 63
+ 62
1
0
0
@@ -1050,7 +1063,7 @@
0
8
- 64
+ 63
1
0
0
@@ -1062,7 +1075,7 @@
8
- 65
+ 64
1
0
0
@@ -1074,7 +1087,7 @@
8
- 66
+ 65
1
0
0
@@ -1086,7 +1099,7 @@
8
- 67
+ 66
1
0
0
@@ -1098,7 +1111,7 @@
8
- 68
+ 67
1
0
0
@@ -1110,7 +1123,7 @@
8
- 69
+ 68
1
0
0
@@ -1122,7 +1135,7 @@
8
- 70
+ 69
1
0
0
@@ -1134,7 +1147,7 @@
8
- 71
+ 70
1
0
0
@@ -1154,7 +1167,7 @@
0
9
- 72
+ 71
1
0
0
@@ -1166,7 +1179,7 @@
9
- 73
+ 72
1
0
0
@@ -1178,7 +1191,7 @@
9
- 74
+ 73
1
0
0
@@ -1190,7 +1203,7 @@
9
- 75
+ 74
1
0
0
@@ -1202,7 +1215,7 @@
9
- 76
+ 75
1
0
0
@@ -1214,7 +1227,7 @@
9
- 77
+ 76
1
0
0
@@ -1226,7 +1239,7 @@
9
- 78
+ 77
1
0
0
@@ -1238,7 +1251,7 @@
9
- 79
+ 78
1
0
0
@@ -1258,7 +1271,7 @@
0
10
- 80
+ 79
1
0
0
@@ -1270,7 +1283,7 @@
10
- 81
+ 80
1
0
0
@@ -1282,7 +1295,7 @@
10
- 82
+ 81
1
0
0
@@ -1294,7 +1307,7 @@
10
- 83
+ 82
1
0
0
@@ -1306,7 +1319,7 @@
10
- 84
+ 83
1
0
0
@@ -1318,7 +1331,7 @@
10
- 85
+ 84
1
0
0
@@ -1330,7 +1343,7 @@
10
- 86
+ 85
1
0
0
@@ -1350,7 +1363,7 @@
0
11
- 87
+ 86
1
0
0
@@ -1362,7 +1375,7 @@
11
- 88
+ 87
1
0
0
@@ -1374,7 +1387,7 @@
11
- 89
+ 88
1
0
0
@@ -1394,7 +1407,7 @@
0
12
- 90
+ 89
1
0
0
@@ -1414,7 +1427,7 @@
0
13
- 91
+ 90
1
0
0
@@ -1426,7 +1439,7 @@
13
- 92
+ 91
1
0
0
@@ -1438,7 +1451,7 @@
13
- 93
+ 92
1
0
0
@@ -1450,7 +1463,7 @@
13
- 94
+ 93
1
0
0
diff --git a/MDK-ARM/AUTO_CHASSIS.uvprojx b/MDK-ARM/AUTO_CHASSIS.uvprojx
index 625865f..eee0eb5 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvprojx
+++ b/MDK-ARM/AUTO_CHASSIS.uvprojx
@@ -1098,11 +1098,6 @@
User/Module
-
- Chassis.c
- 1
- ..\User\Module\Chassis.c
-
config.c
1
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index 4124b41..5253c10 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf differ
diff --git a/User/Module/config.c b/User/Module/config.c
index be3f9ad..cf74443 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -28,36 +28,21 @@ ConfigParam_t param_chassis ={
static const ConfigParam_t param_chassis ={
-//
-//typedef struct
-//{
-// /*该部分决定PID的参数整定在config中修改*/
-// pid_param_t VESC_5065_M1_param;
-// pid_param_t VESC_5065_M2_param;
-//
-// pid_param_t UP_GM6020_speed_param;
-// pid_param_t UP_GM6020_angle_param;
-//
-// pid_param_t M2006_speed_param;
-// pid_param_t M2006_angle_param;
-//
-//}UP_Param_t;
-
#endif
.up={
-.M2006_angle_param = { // 外环（角度环）
- .p = 25.0f, // 原13.0 → 提升P加速响应
- .i = 0.0f, // 保持
- .d = 1.5f, // 原1.8 → 增强D抑制振荡
- .i_limit = 1000.0f,// 原2000 → 限制积分累积
+.M2006_angle_param = {
+ .p = 25.0f,
+ .i = 0.0f,
+ .d = 1.5f,
+ .i_limit = 1000.0f,
.out_limit = 3000.0f,
},
-.M2006_speed_param = { // 内环（速度环）
- .p = 5.0f, // 原5.5 → 提升P加快跟踪
- .i = 0.3f, // 保持
- .d = 0.0f, // 原0.4 → 抑制新增高频噪声
+.M2006_speed_param = {
+ .p = 5.0f,
+ .i = 0.3f,
+ .d = 0.0f,
.i_limit = 2000.0f,
.out_limit = 3000.0f,
},
@@ -81,99 +66,107 @@ static const ConfigParam_t param_chassis ={
.d = 3.2f,
.i_limit = 200.0f,
.out_limit =6000.0f,
+},
+.go_param={
+ .rev = 0,
+ .T=0.1,
+ .W=0.1,
+ .K_P=0.1,
+ .K_W=0.1,
}
+
},
- .chassis = {/**/
- .C6020pitAngle_param = {
- .p = 15.0f,
- .i = 0.3f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f,
- },
- .C6020pitOmega_param = {
- .p =30.0f,
- .i =0.3f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f
- },
-
- .Gimbal_yawAngle_param = {
- .p =8.0f,
- .i =0.0f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f
- },
-
- .Gimbal_yawOmega_param = {
- .p =18.0f,
- .i =0.0f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f
- },
-
- .Gimbal_pitchAngle_param = {
- .p =8.0f,
- .i =0.0f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f
- },
-
- .Gimbal_pitchOmega_param = {
- .p =18.0f,
- .i =0.0f,
- .d =0.0f,
- .i_limit = 200.0f,
- .out_limit = 3000.0f
- },
- .AngleCor_param = {
- .p =0.8f,
- .i =0.0f,
- .d =1.0f,
- .i_limit = 0.0f,
- .out_limit =5000.0f,
- },
-
- .OmegaCor_param = {
- .p =23.5f,
- .i =0.0f,
- .d =0.05f,
- .i_limit = 0.0f,
- .out_limit =5000.0f,
- },
-
- .ImuCor_param = {
- .p =95.0f,
- .i =0.0f,
- .d =0.0f,
- .i_limit = 0.0f,
- .out_limit =200.0f,
- },
+// .chassis = {/**/
+// .C6020pitAngle_param = {
+// .p = 15.0f,
+// .i = 0.3f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f,
+// },
+// .C6020pitOmega_param = {
+// .p =30.0f,
+// .i =0.3f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f
+// },
+//
+// .Gimbal_yawAngle_param = {
+// .p =8.0f,
+// .i =0.0f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f
+// },
+//
+// .Gimbal_yawOmega_param = {
+// .p =18.0f,
+// .i =0.0f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f
+// },
+//
+// .Gimbal_pitchAngle_param = {
+// .p =8.0f,
+// .i =0.0f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f
+// },
+//
+// .Gimbal_pitchOmega_param = {
+// .p =18.0f,
+// .i =0.0f,
+// .d =0.0f,
+// .i_limit = 200.0f,
+// .out_limit = 3000.0f
+// },
+// .AngleCor_param = {
+// .p =0.8f,
+// .i =0.0f,
+// .d =1.0f,
+// .i_limit = 0.0f,
+// .out_limit =5000.0f,
+// },
+//
+// .OmegaCor_param = {
+// .p =23.5f,
+// .i =0.0f,
+// .d =0.05f,
+// .i_limit = 0.0f,
+// .out_limit =5000.0f,
+// },
+//
+// .ImuCor_param = {
+// .p =95.0f,
+// .i =0.0f,
+// .d =0.0f,
+// .i_limit = 0.0f,
+// .out_limit =200.0f,
+// },
+//
+// .DisCamera_param = {
+// .p =80.0f,
+// .i =0.1f,
+// .d =0.0f,
+// .i_limit = 0.0f,
+// .out_limit =5000.0f,
+// },
- .DisCamera_param = {
- .p =80.0f,
- .i =0.1f,
- .d =0.0f,
- .i_limit = 0.0f,
- .out_limit =5000.0f,
- },
-
- .M3508_param = {
- .p = 15.1f,
- .i = 0.02f,
- .d = 3.2f,
- .i_limit = 200.0f,
- .out_limit =6000.0f,
- }
-
+// .M3508_param = {
+// .p = 15.1f,
+// .i = 0.02f,
+// .d = 3.2f,
+// .i_limit = 200.0f,
+// .out_limit =6000.0f,
+// }
+//
- },
+// },
.can = {
diff --git a/User/Module/up.c b/User/Module/up.c
index 4f5b4d0..70c51ce 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -23,11 +23,17 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
+ u->M2006 .motor =M2006 ;
+ u->M3508 .motor =M3508 ;
+
for(int i=0;i<3;i++){
PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param ));
}
-
+ for(int i=0;i<2;i++){ //go初始位置设置为0
+ u->GO_motor_info[i] = getGoPoint(i);
+ GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );
+ }
}
@@ -49,19 +55,21 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {
int8_t cnt=0;
/*上层电机控制*/
-int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
+int8_t UP_angle(UP_t *u, fp32 target_angle) {
// 获取当前编码器角度
+
+// switch (u->)
float angle = u->motorfeedback.M2006_angle;
-
// 初始化阶段：前50次循环记录初始值
if (u->M2006.init_cnt < 50) {
u->M2006.orig_angle = angle; // 记录初始编码器值
- u->M2006.last_angle = angle; // 初始化上一次角度
+ u->M2006.last_angle = angle;
+
u->M2006.init_cnt++; // 初始化计数器递增
- return 0; // 初始化阶段不执行控制
+ return 0;
}
- // 计算角度差值（处理编码器溢出）
+
float delta = angle - u->M2006.last_angle;
if (delta > 4096) {
u->M2006.round_cnt--; // 逆时针跨圈
@@ -71,10 +79,10 @@ int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
u->M2006.last_angle = angle;
- // 计算总角度（基于初始偏移和圈数）
+ // 计算总角度
float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
u->M2006 .total_angle =total_angle;
- // PID控制计算
+
float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
u->motor_target.M2006_angle = target_angle;
@@ -100,7 +108,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
u->motor_target .VESC_5065_M2_rpm =speed;
u->final_out .final_VESC_5065_M1out =u->motor_target .VESC_5065_M1_rpm;
- u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
+ u->final_out .final_VESC_5065_M2out =-u->motor_target .VESC_5065_M2_rpm;
}
@@ -116,7 +124,13 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
u->motor_target .rotor_pit6020angle =angle ;
}
+/*go电机控制*/
+int8_t GO_SendData(UP_t *u,int id,float pos)
+{
+
+ GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,AngleChange(RADIAN,pos),u->param->go_param .K_P ,u->param->go_param .K_W );
+}
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
@@ -149,3 +163,5 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out)
case STATE_POST_LAUNCH : break ;
}
}
+
+
diff --git a/User/Module/up.h b/User/Module/up.h
index d8b1037..afc21a6 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -34,7 +34,32 @@ typedef struct {
}UP_Imu_t;
+/**
+ *@input[in] rev 暂时不知道干啥用的，github为回答issue
+ *@input[in] T 力矩，单位N·m
+ *@input[in] Pos 目标位置，单位rad
+ *@input[in] W 目标速度，单位rad/s
+ *@input[in] K_P 位置环环kp
+ *@input[in] K_W 速度环kp
+ *@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W
+ */
+typedef struct {
+
+ int rev; //暂时不知何用
+ float T;
+ float W;
+ float K_P;
+ float K_W;
+}GO_param_t;
+
+typedef enum {
+ M2006 = 1,
+ M3508
+} MotorType_t;
+
+
+
typedef struct
{
/*该部分决定PID的参数整定在config中修改*/
@@ -47,18 +72,21 @@ typedef struct
pid_param_t M2006_speed_param;
pid_param_t M2006_angle_param;
- pid_param_t M3508_speed_param;
+ pid_param_t M3508_speed_param;
+ GO_param_t go_param;
+
}UP_Param_t;
typedef struct
{
- float orig_angle;
- int8_t offset_flag;
- float angle;
- float last_angle;
- float total_angle;
+ MotorType_t motor;
+ float orig_angle;
+ float last_angle;
+ int32_t round_cnt;
+ uint16_t init_cnt;
+ float total_angle;
-}M2006_data;
+}motor_angle_data;
typedef struct{
@@ -68,13 +96,10 @@ typedef struct{
UP_Imu_t pos088;
OperationState ctrl;
- struct {
- float orig_angle; // 初始偏移量
- float last_angle; // 上一次编码器值
- int32_t round_cnt; // 圈数计数器
- uint16_t init_cnt; // 初始化计数器（前50次记录初始值）
- float total_angle;
- } M2006;
+ motor_angle_data M2006;
+ motor_angle_data M3508;
+ GO_Motorfield *GO_motor_info[GO_NUM];//存放go电机数据
+
struct{
fp32 rotor_pit6020ecd;
@@ -145,8 +170,8 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) ;
int8_t GM6020_control(UP_t *u,fp32 angle);
int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
-
-int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
+int8_t GO_SendData(UP_t *u,int id,float pos);
+int8_t UP_angle(UP_t *u, fp32 target_angle) ;
int8_t UP_control(UP_t *u,CAN_Output_t *out);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
diff --git a/User/device/GO_M8010_6_Driver.c b/User/device/GO_M8010_6_Driver.c
index 7fa159d..e65f115 100644
--- a/User/device/GO_M8010_6_Driver.c
+++ b/User/device/GO_M8010_6_Driver.c
@@ -6,7 +6,7 @@
#include "bsp_usart.h"
#include
-GO_Motorfield GO_motor_info[GO_NUM];//存放电机数据
+ GO_Motorfield GO_motor_info[GO_NUM];//存放电机数据
static const float gravit_const =9.81;//计算前馈力矩有关
//数据处理函数
@@ -14,11 +14,11 @@ static void GO_M8010_recv_data(uint8_t* Temp_buffer);
/**
*@brief 电机初始化
*/
-void GO_M8010_init (){
+void GO_M8010_init (void){
for (uint8_t id= 0; id >8) & 0xFF)))
{
- HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮
- HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
+// HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET); //蓝色灯亮
+// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
return;
}
- HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET); // indicate CRC correct
- HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
+// HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET); // indicate CRC correct
+// HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET); //红色灯灭
GO_M8010_recv_data(Temp_buffer);
}
@@ -79,11 +79,11 @@ void uartTxCB(UART_HandleTypeDef *huart)
*@input[in] K_W 速度环kp
*@note 控制公式 ： t = T + （设定位置 - 实际位置）*K_P + （设定速度 - 实际速度）*K_W
*/
- GO_Motorfield* motor;
void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float Pos,
float W,float K_P,float K_W)
{
+ GO_Motorfield* motor;
// a pointer to target motor
motor = GO_motor_info+id;
@@ -130,7 +130,7 @@ void GO_M8010_send_data(UART_HandleTypeDef *huart, int id,int rev,float T,float
// interrupt buffer sending
HAL_UART_Transmit_IT(huart,motor->buffer,sizeof(motor->buffer));
- osDelay(1000);
+ osDelay(1);
HAL_UART_Receive_DMA(huart, Temp_buffer, 16);//有无都可以
diff --git a/User/device/GO_M8010_6_Driver.h b/User/device/GO_M8010_6_Driver.h
index b3cb95e..265e862 100644
--- a/User/device/GO_M8010_6_Driver.h
+++ b/User/device/GO_M8010_6_Driver.h
@@ -19,21 +19,18 @@ typedef struct
uint8_t id :4;
uint8_t status :3;
uint8_t none :1;
-} RIS_Mode_t /*__attribute__((packed))*/;
+} RIS_Mode_t ;
+
-/**
- * @brief ���״̬������Ϣ
- *
- */
typedef struct
{
- int16_t tor_des; // �����ؽ����Ť�� unit: N.m (q8)
- int16_t spd_des; // �����ؽ�����ٶ� unit: rad/s (q7)
- int32_t pos_des; // �����ؽ����λ�� unit: rad (q15)
- uint16_t k_pos; // �����ؽڸն�ϵ�� unit: 0.0-1.0 (q15)
- uint16_t k_spd; // �����ؽ�����ϵ�� unit: 0.0-1.0 (q15)
+ int16_t tor_des;
+ int16_t spd_des;
+ int32_t pos_des;
+ uint16_t k_pos;
+ uint16_t k_spd;
} RIS_Comd_t;
@@ -61,12 +58,12 @@ typedef struct {
uint16_t correct;
int MError;
int Temp;
- float tar_pos; // target position
- float tar_w; // target speed
- float T; // ��ǰʵ�ʵ���������
- float W; // ��ǰʵ�ʵ���ٶȣ����٣�
- float Pos; // ��ǰ���λ��
- int footForce; // They dont even know what 7 is this so we dont update this
+ float tar_pos;
+ float tar_w;
+ float T;
+ float W;
+ float Pos;
+ int footForce;
uint8_t buffer[17];
uint8_t Rec_buffer[16];
ControlData_t motor_send_data;
diff --git a/User/device/can_use.c b/User/device/can_use.c
index 9f92edd..45ed941 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -266,10 +266,10 @@ int8_t CAN_VESC_Control(int id,CAN_MotorGroup_e group, CAN_Output_t *output,CAN_
for(int i=0 ; i < 4 ; i ++)
{
- if(i==2) //此处可能同时发送四个vesc导致只有三个轮子接收到数据 故加上delay
- {
+// if(i==2) //此处可能同时发送四个vesc导致只有三个轮子接收到数据 故加上delay
+// {
osDelay(1);
- }
+// }
//将单个电机的期望输出值通过联合体拆分
Byte[0] = raw[i].byte.byte1;
Byte[1] = raw[i].byte.byte2;
diff --git a/User/task/can_task.c b/User/task/can_task.c
index c733d31..448c35c 100644
--- a/User/task/can_task.c
+++ b/User/task/can_task.c
@@ -73,10 +73,7 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
&(can_out.chassis5065), 0, 0) == osOK) {
CAN_VESC_Control(1,CAN_MOTOR_CHASSIS5065, &can_out ,&can);
}
- if (osMessageQueueGet(task_runtime.msgq.can.output.shoot5065,
- &(can_out.chassis5065), 0, 0) == osOK) {
- CAN_VESC_Control(2,CAN_MOTOR_CHASSIS5065, &can_out ,&can);
- }
+
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
}
diff --git a/User/task/up_task.c b/User/task/up_task.c
index 79da392..7634fe9 100644
--- a/User/task/up_task.c
+++ b/User/task/up_task.c
@@ -29,7 +29,9 @@ static UP_t UP;
#endif
-
+float aaa=0;
+float bbb=0;
+float CCC=0;
/**
@@ -53,11 +55,20 @@ void Task_up(void *argument)
#endif
UP_UpdateFeedback(&UP, &can) ;
// GM6020_control(&UP, 100) ;
-// UP_M2006_angle(&UP, 180);
-// UP_M3508_speed(&UP, 500);
- VESC_M5065_Control(&UP, 00);
+ UP_angle(&UP, bbb);
+// UP_M3508_speed(&UP, 500);
+
+
+
+// VESC_M5065_Control(&UP, 20000);
+
+
+
+ GO_SendData(&UP, 1,CCC);
+ GO_SendData(&UP, 0,aaa);
+
ALL_Motor_Control(&UP,&UP_CAN_out);
-// GO_M8010_send_data(&huart6, 0,0,0,5,10,0.12,0.08);
+
osDelay(1);