robofish/MRobot
1
0
Fork 0
mirror of https://github.com/goldenfishs/MRobot.git synced 2025-11-01 07:35:42 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

修改lk

Browse Source
This commit is contained in:
Robofish 2025-09-20 00:50:23 +08:00
parent ae40434ecf
commit d7a56e656b
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
assets/User_code/device/motor_lk.c
View File

@ -253,7 +253,7 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitForEmptyMailbox(param->can, 1);
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -279,7 +279,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}
@ -299,7 +299,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
tx_frame.data[5] = 0x00;
tx_frame.data[6] = 0x00;
tx_frame.data[7] = 0x00;
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

2
assets/User_code/device/motor_lz.c
View File

@ -369,7 +369,7 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
data[6] = (raw_kd >> 8) & 0xFF;
data[7] = raw_kd & 0xFF;
BSP_CAN_WaitForEmptyMailbox(param->can, 1);
BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
}