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修复rm

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Robofish 2025-09-20 16:33:28 +08:00
parent 8d741c6d61
commit 9d6a10135d
1 changed files with 5 additions and 0 deletions
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5
device/motor_rm.c
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@ -140,6 +140,10 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.torque_current = torque_current; motor->feedback.torque_current = torque_current;
} }
motor->feedback.temp = msg->data[6]; motor->feedback.temp = msg->data[6];
motor->motor.feedback.rotor_abs_angle = motor->feedback.rotor_abs_angle;
motor->motor.feedback.rotor_speed = motor->feedback.rotor_speed;
motor->motor.feedback.torque_current = motor->feedback.torque_current;
motor->motor.feedback.temp = motor->feedback.temp;
} }
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
@ -193,6 +197,7 @@ int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
motor->motor.header.online = true; motor->motor.header.online = true;
motor->motor.header.last_online_time = BSP_TIME_Get(); motor->motor.header.last_online_time = BSP_TIME_Get();
Motor_RM_Decode(motor, &rx_msg); Motor_RM_Decode(motor, &rx_msg);
return DEVICE_OK; return DEVICE_OK;
} }
} }