LYL/R2_UP
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3.30更改的暂存区丢失，这个修改了部分，处于可用状态，但不完善

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ZHAISHUI04 2025-03-31 16:13:20 +08:00
parent 5de502c448
commit 1488098d60
3 changed files with 5 additions and 3 deletions
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BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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6
User/Module/up.c
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@ -201,7 +201,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
GO_SendData(u,0 ,u->motor_target .go_shoot ); GO_SendData(u,0 ,u->motor_target .go_shoot );
GO_SendData(u,1 ,u->motor_target .go_spin); GO_SendData(u,1 ,u->motor_target .go_spin);
@ -273,10 +273,10 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
if(u->state .last_state == Not_started_Pit) if(u->state .last_state == Not_started_Pit)
{ {
u->motor_target .go_shoot =-300; u->motor_target .go_shoot =-2050;
u->motor_target .M2006_angle =-140; u->motor_target .M2006_angle =-140;
if(u->motorfeedback .GO_motor_info[0]->Pos < (-4.8)) //到达位置后再扣扳机 if(u->motorfeedback .GO_motor_info[0]->Pos < (-35.20)) //到达位置后再扣扳机
{ {
u->motor_target .M2006_angle =0; u->motor_target .M2006_angle =0;
if(u->motorfeedback .M2006.total_angle>-5) if(u->motorfeedback .M2006.total_angle>-5)

2
User/task/up_task.c
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@ -69,6 +69,8 @@ void Task_up(void *argument)
// GO_SendData(&UP, 1,CCC); // GO_SendData(&UP, 1,CCC);
// GO_SendData(&UP, 0,aaa); // GO_SendData(&UP, 0,aaa);
UP_control(&UP,&UP_CAN_out,&up_cmd); UP_control(&UP,&UP_CAN_out,&up_cmd);
// UP.motor_target .go_shoot =aaa;
// UP.motor_target .M2006_angle =bbb ;
ALL_Motor_Control(&UP,&UP_CAN_out); ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1); osDelay(1);