robofish/rm_balance
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Robofish 2025-10-04 22:46:02 +08:00
parent 81a5306962
commit 01ea1a9e78
1 changed files with 4 additions and 0 deletions
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4
User/task/ctrl_lz.c
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@ -45,6 +45,10 @@ void Task_ctrl_lz(void *argument) {
// 注册CAN接收ID // 注册CAN接收ID
BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令 BSP_CAN_RegisterId(BSP_CAN_1, 121, 0); // 使能命令
BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令 BSP_CAN_RegisterId(BSP_CAN_1, 122, 0); // 力矩控制命令
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&Config_GetRobotParam()->joint_param[i]);
}
/* USER CODE INIT END */ /* USER CODE INIT END */
while (1) { while (1) {