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修rm

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This commit is contained in:
Robofish 2025-10-03 22:58:09 +08:00
parent a42e2e3832
commit 96feb958a5
1 changed files with 1 additions and 1 deletions
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2
assets/User_code/device/motor_rm.c
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@ -139,13 +139,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.rotor_speed = rotor_speed; motor->feedback.rotor_speed = rotor_speed;
motor->feedback.torque_current = torque_current; motor->feedback.torque_current = torque_current;
} }
if (motor->motor.reverse) {
while (motor->feedback.rotor_abs_angle < 0) { while (motor->feedback.rotor_abs_angle < 0) {
motor->feedback.rotor_abs_angle += M_2PI; motor->feedback.rotor_abs_angle += M_2PI;
} }
while (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;
} }
if (motor->motor.reverse) {
motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle; motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
motor->feedback.rotor_speed = -motor->feedback.rotor_speed; motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
motor->feedback.torque_current = -motor->feedback.torque_current; motor->feedback.torque_current = -motor->feedback.torque_current;