修改神秘小bug

User/module/balance_chassis.c

@@ -336,13 +336,13 @@ void Chassis_Output(Chassis_t *c) {
     if (c == NULL) return;
     for (int i = 0; i < 4; i++) {
         MOTOR_LZ_MotionParam_t param = {0};
-        param.torque = c->output.joint[i].torque;
+        // param.torque = c->output.joint[i].torque;
         MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
     }
     BSP_TIME_Delay_us(400); // 等待CAN总线空闲，确保前面的命令发送完成
     for (int i = 0; i < 2; i++) {
-        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
+        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
-        // MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
+        MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
     }
     
 }

User/module/config.c

@@ -180,10 +180,10 @@ Config_RobotParam_t robot_config = {
     .rc_can_param = {
         .can = BSP_CAN_2,
         .mode = RC_CAN_MODE_SLAVE,
-        .joy_id = 0x250,
+        .joy_id = 0x30,
-        .sw_id = 0x251,
+        .sw_id = 0x31,
-        .mouse_id = 0x252,
+        .mouse_id = 0x32,
-        .keyboard_id = 0x253,
+        .keyboard_id = 0x33,
     },
 };
 

User/task/config.yaml

@@ -8,7 +8,7 @@
 - delay: 0
   description: ''
   freq_control: true
-  frequency: 500.0
+  frequency: 120.0
   function: Task_rc
   name: rc
   stack: 256

User/task/rc.c

@@ -7,7 +7,6 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "bsp/can.h"
-#include "device/dr16.h"
 #include "device/rc_can.h"
 #include "module/balance_chassis.h"
 #include "module/config.h"
@@ -18,10 +17,8 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-DR16_t dr16;
 RC_CAN_t rc_can;
 Chassis_CMD_t cmd_to_chassis;
-#define USE_RC_CAN
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -38,40 +35,12 @@ void Task_rc(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
   BSP_CAN_Init();
-  DR16_Init(&dr16);
   RC_CAN_Init(&rc_can, &Config_GetRobotParam()->rc_can_param);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-    #ifdef USE_DR16
-    DR16_StartDmaRecv(&dr16);
-    if (DR16_WaitDmaCplt(20)) {
-      DR16_ParseData(&dr16);
-      switch (dr16.data.sw_l) {
-          case CMD_SW_UP: // 上位
-              cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-              break;
-          case CMD_SW_MID: // 中位  
-              cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
-              break;
-          case CMD_SW_DOWN: // 下位
-              cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
-              break;
-          default:
-              cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-              break;
-      }
-        cmd_to_chassis.move_vec.vx = dr16.data.ch_l_y;
-        cmd_to_chassis.move_vec.vy = dr16.data.ch_l_x;
-        cmd_to_chassis.move_vec.wz = dr16.data.ch_r_x;
-        cmd_to_chassis.height = dr16.data.ch_res;
-    } else {
-      DR16_Offline(&dr16);
-        cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-    }
-    #elif defined USE_RC_CAN
     RC_CAN_Update(&rc_can, RC_CAN_DATA_JOYSTICK);
     RC_CAN_Update(&rc_can, RC_CAN_DATA_SWITCH);
     if (rc_can.header.online) {
@@ -97,7 +66,6 @@ void Task_rc(void *argument) {
         RC_CAN_OFFLINE(&rc_can);
         cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
     }
-    #endif
     osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
    
     /* USER CODE END */

User/task/user_task.h

@@ -14,7 +14,7 @@ extern "C" {
 /* Exported constants ------------------------------------------------------- */
 /* 任务运行频率 */
 #define BLINK_FREQ (100.0)
-#define RC_FREQ (500.0)
+#define RC_FREQ (120.0)
 #define ATTI_ESTI_FREQ (1000.0)
 #define CTRL_CHASSIS_FREQ (500.0)
 #define CTRL_GIMBAL_FREQ (500.0)