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更新代码

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Robofish
2025-09-22 14:49:14 +08:00
parent d16427f7d4
commit 09602c76cd
5 changed files with 40 additions and 2 deletions
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assets/.DS_Store vendored
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9
assets/User_code/device/motor_rm.c
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@@ -140,7 +140,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.torque_current = torque_current;
}
if (motor->motor.reverse) {
motor->feedback.rotor_abs_angle = M_2_PI - motor->feedback.rotor_abs_angle;
while (motor->feedback.rotor_abs_angle < 0) {
motor->feedback.rotor_abs_angle += M_2PI;
}
while (motor->feedback.rotor_abs_angle >= M_2PI) {
motor->feedback.rotor_abs_angle -= M_2PI;
}
motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
motor->feedback.torque_current = -motor->feedback.torque_current;
}
@@ -197,6 +203,7 @@ int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
motor->motor.header.online = true;
motor->motor.header.last_online_time = BSP_TIME_Get();
Motor_RM_Decode(motor, &rx_msg);
motor->motor.feedback = motor->feedback;
return DEVICE_OK;
}
}