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电机修好了

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This commit is contained in:
Robofish 2025-09-26 15:09:20 +08:00
parent 5254b6baa8
commit 21fd13e6c3
9 changed files with 649 additions and 302 deletions
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4
CMakeLists.txt
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@ -71,10 +71,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/device/dm_imu.c User/device/dm_imu.c
User/device/dr16.c User/device/dr16.c
User/device/motor.c User/device/motor.c
User/device/motor_lk.c
User/device/motor_dm.c User/device/motor_dm.c
User/device/motor_rm.c User/device/motor_lk.c
User/device/motor_lz.c User/device/motor_lz.c
User/device/motor_rm.c
# User/module sources # User/module sources
User/module/balance_chassis.c User/module/balance_chassis.c

4
MDK-ARM/DevC.uvprojx
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@ -49,7 +49,7 @@
<NotGenerated>0</NotGenerated> <NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash> <InvalidFlash>1</InvalidFlash>
</TargetStatus> </TargetStatus>
<OutputDirectory>DevC\</OutputDirectory> <OutputDirectory>.\DevC\</OutputDirectory>
<OutputName>DevC</OutputName> <OutputName>DevC</OutputName>
<CreateExecutable>1</CreateExecutable> <CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib> <CreateLib>0</CreateLib>
@ -82,7 +82,7 @@
</BeforeMake> </BeforeMake>
<AfterMake> <AfterMake>
<RunUserProg1>0</RunUserProg1> <RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2> <RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name> <UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name> <UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode> <UserProg1Dos16Mode>0</UserProg1Dos16Mode>

192
MDK-ARM/DevC/DevC.lnp
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@ -1,99 +1,99 @@
--cpu=Cortex-M4.fp.sp --cpu=Cortex-M4.fp.sp
"devc\startup_stm32f407xx.o" ".\devc\startup_stm32f407xx.o"
"devc\main.o" ".\devc\main.o"
"devc\gpio.o" ".\devc\gpio.o"
"devc\freertos.o" ".\devc\freertos.o"
"devc\adc.o" ".\devc\adc.o"
"devc\can.o" ".\devc\can.o"
"devc\crc.o" ".\devc\crc.o"
"devc\dma.o" ".\devc\dma.o"
"devc\i2c.o" ".\devc\i2c.o"
"devc\rng.o" ".\devc\rng.o"
"devc\spi.o" ".\devc\spi.o"
"devc\tim.o" ".\devc\tim.o"
"devc\usart.o" ".\devc\usart.o"
"devc\stm32f4xx_it.o" ".\devc\stm32f4xx_it.o"
"devc\stm32f4xx_hal_msp.o" ".\devc\stm32f4xx_hal_msp.o"
"devc\usb_device.o" ".\devc\usb_device.o"
"devc\usbd_desc.o" ".\devc\usbd_desc.o"
"devc\usbd_cdc_if.o" ".\devc\usbd_cdc_if.o"
"devc\usbd_conf.o" ".\devc\usbd_conf.o"
"devc\stm32f4xx_hal_pcd.o" ".\devc\stm32f4xx_hal_pcd.o"
"devc\stm32f4xx_hal_pcd_ex.o" ".\devc\stm32f4xx_hal_pcd_ex.o"
"devc\stm32f4xx_ll_usb.o" ".\devc\stm32f4xx_ll_usb.o"
"devc\stm32f4xx_hal_rcc.o" ".\devc\stm32f4xx_hal_rcc.o"
"devc\stm32f4xx_hal_rcc_ex.o" ".\devc\stm32f4xx_hal_rcc_ex.o"
"devc\stm32f4xx_hal_flash.o" ".\devc\stm32f4xx_hal_flash.o"
"devc\stm32f4xx_hal_flash_ex.o" ".\devc\stm32f4xx_hal_flash_ex.o"
"devc\stm32f4xx_hal_flash_ramfunc.o" ".\devc\stm32f4xx_hal_flash_ramfunc.o"
"devc\stm32f4xx_hal_gpio.o" ".\devc\stm32f4xx_hal_gpio.o"
"devc\stm32f4xx_hal_dma_ex.o" ".\devc\stm32f4xx_hal_dma_ex.o"
"devc\stm32f4xx_hal_dma.o" ".\devc\stm32f4xx_hal_dma.o"
"devc\stm32f4xx_hal_pwr.o" ".\devc\stm32f4xx_hal_pwr.o"
"devc\stm32f4xx_hal_pwr_ex.o" ".\devc\stm32f4xx_hal_pwr_ex.o"
"devc\stm32f4xx_hal_cortex.o" ".\devc\stm32f4xx_hal_cortex.o"
"devc\stm32f4xx_hal.o" ".\devc\stm32f4xx_hal.o"
"devc\stm32f4xx_hal_exti.o" ".\devc\stm32f4xx_hal_exti.o"
"devc\stm32f4xx_hal_adc.o" ".\devc\stm32f4xx_hal_adc.o"
"devc\stm32f4xx_hal_adc_ex.o" ".\devc\stm32f4xx_hal_adc_ex.o"
"devc\stm32f4xx_ll_adc.o" ".\devc\stm32f4xx_ll_adc.o"
"devc\stm32f4xx_hal_can.o" ".\devc\stm32f4xx_hal_can.o"
"devc\stm32f4xx_hal_crc.o" ".\devc\stm32f4xx_hal_crc.o"
"devc\stm32f4xx_hal_i2c.o" ".\devc\stm32f4xx_hal_i2c.o"
"devc\stm32f4xx_hal_i2c_ex.o" ".\devc\stm32f4xx_hal_i2c_ex.o"
"devc\stm32f4xx_hal_rng.o" ".\devc\stm32f4xx_hal_rng.o"
"devc\stm32f4xx_hal_spi.o" ".\devc\stm32f4xx_hal_spi.o"
"devc\stm32f4xx_hal_tim.o" ".\devc\stm32f4xx_hal_tim.o"
"devc\stm32f4xx_hal_tim_ex.o" ".\devc\stm32f4xx_hal_tim_ex.o"
"devc\stm32f4xx_hal_uart.o" ".\devc\stm32f4xx_hal_uart.o"
"devc\system_stm32f4xx.o" ".\devc\system_stm32f4xx.o"
"devc\croutine.o" ".\devc\croutine.o"
"devc\event_groups.o" ".\devc\event_groups.o"
"devc\list.o" ".\devc\list.o"
"devc\queue.o" ".\devc\queue.o"
"devc\stream_buffer.o" ".\devc\stream_buffer.o"
"devc\tasks.o" ".\devc\tasks.o"
"devc\timers.o" ".\devc\timers.o"
"devc\cmsis_os2.o" ".\devc\cmsis_os2.o"
"devc\heap_4.o" ".\devc\heap_4.o"
"devc\port.o" ".\devc\port.o"
"devc\usbd_core.o" ".\devc\usbd_core.o"
"devc\usbd_ctlreq.o" ".\devc\usbd_ctlreq.o"
"devc\usbd_ioreq.o" ".\devc\usbd_ioreq.o"
"devc\usbd_cdc.o" ".\devc\usbd_cdc.o"
"devc\can_1.o" ".\devc\can_1.o"
"devc\dwt.o" ".\devc\dwt.o"
"devc\gpio_1.o" ".\devc\gpio_1.o"
"devc\mm.o" ".\devc\mm.o"
"devc\pwm.o" ".\devc\pwm.o"
"devc\spi_1.o" ".\devc\spi_1.o"
"devc\time.o" ".\devc\time.o"
"devc\uart.o" ".\devc\uart.o"
"devc\ahrs.o" ".\devc\ahrs.o"
"devc\cmd.o" ".\devc\cmd.o"
"devc\filter.o" ".\devc\filter.o"
"devc\limiter.o" ".\devc\limiter.o"
"devc\pid.o" ".\devc\pid.o"
"devc\user_math.o" ".\devc\user_math.o"
"devc\kinematics.o" ".\devc\kinematics.o"
"devc\lqr.o" ".\devc\lqr.o"
"devc\vmc.o" ".\devc\vmc.o"
"devc\buzzer.o" ".\devc\buzzer.o"
"devc\dm_imu.o" ".\devc\dm_imu.o"
"devc\dr16.o" ".\devc\dr16.o"
"devc\motor.o" ".\devc\motor.o"
"devc\motor_lk.o" ".\devc\motor_lk.o"
"devc\motor_lz.o" ".\devc\motor_lz.o"
"devc\config.o" ".\devc\config.o"
"devc\balance_chassis.o" ".\devc\balance_chassis.o"
"devc\blink.o" ".\devc\blink.o"
"devc\init.o" ".\devc\init.o"
"devc\rc.o" ".\devc\rc.o"
"devc\user_task.o" ".\devc\user_task.o"
"devc\atti_esti.o" ".\devc\atti_esti.o"
"devc\ctrl_chassis.o" ".\devc\ctrl_chassis.o"
"devc\ctrl_gimbal.o" ".\devc\ctrl_gimbal.o"
--strict --scatter "DevC\DevC.sct" --strict --scatter ".\DevC\DevC.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers --info sizes --info totals --info unused --info veneers
--list "DevC.map" -o DevC\DevC.axf --list "DevC.map" -o .\DevC\DevC.axf

1
User/device/motor_lz.c
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@ -378,6 +378,7 @@ int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) {
if (param == NULL) return DEVICE_ERR_NULL; if (param == NULL) return DEVICE_ERR_NULL;
// 构建扩展ID - 使能命令 // 构建扩展ID - 使能命令
// 格式: 0x300FF7X, 其中X是motor_id的低4位
uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id); uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_ENABLE, param->host_id, param->motor_id);
// 数据区清零 // 数据区清零

35
User/module/balance_chassis.c
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@ -14,11 +14,13 @@
*/ */
static int8_t Chassis_MotorEnable(Chassis_t *c) { static int8_t Chassis_MotorEnable(Chassis_t *c) {
if (c == NULL) return CHASSIS_ERR_NULL; if (c == NULL) return CHASSIS_ERR_NULL;
BSP_TIME_Delay_us(400);
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[i]); MOTOR_LZ_Enable(&c->param->joint_motors[i]);
} }
BSP_TIME_Delay_us(200);
BSP_TIME_Delay_us(200);
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]); MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
} }
@ -121,7 +123,7 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq){
MOTOR_LK_Register(&c->param->wheel_motors[i]); MOTOR_LK_Register(&c->param->wheel_motors[i]);
} }
Chassis_MotorEnable(c); // Chassis_MotorEnable(c);
/*初始化VMC控制器*/ /*初始化VMC控制器*/
VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq); VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
@ -262,14 +264,14 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
fn = -20.0f; fn = -20.0f;
tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt); // tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt); // tp2 = 3*PID_Calc(&c->pid.tp[1], 0.0f, c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
VMC_InverseSolve(&c->vmc_[0], fn, 0.0f); VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque); VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
VMC_InverseSolve(&c->vmc_[1], fn, 0.0f); VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque); VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
// Chassis_MotorEnable(c);
c->output.wheel[0] = 0.0f; c->output.wheel[0] = 0.0f;
c->output.wheel[1] = 0.0f; c->output.wheel[1] = 0.0f;
Chassis_Output(c); // 统一输出 Chassis_Output(c); // 统一输出
@ -330,18 +332,15 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
void Chassis_Output(Chassis_t *c) { void Chassis_Output(Chassis_t *c) {
if (c == NULL) return; if (c == NULL) return;
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_MotionParam_t param = {0}; 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); MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
} }
BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成 BSP_TIME_Delay_us(200); // 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++) { 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);
} }
@ -381,7 +380,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
xhat = c->chassis_state.position_x; xhat = c->chassis_state.position_x;
// 目标设定 // 目标设定
target_dot_x = c_cmd->move_vec.vx; target_dot_x = c_cmd->move_vec.vx*2;
// target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s² // target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
c->chassis_state.target_x += target_dot_x * c->dt; c->chassis_state.target_x += target_dot_x * c->dt;
@ -405,7 +404,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
target_state.d_theta = 0.0f; // 目标摆杆角速度 target_state.d_theta = 0.0f; // 目标摆杆角速度
// target_state.x = 0; // 目标位置 // target_state.x = 0; // 目标位置
// target_state.d_x = 0.0f; // 目标速度 // target_state.d_x = 0.0f; // 目标速度
target_state.phi = -0.2f; // 目标俯仰角 target_state.phi = -0.1f; // 目标俯仰角
target_state.d_phi = 0.0f; // 目标俯仰角速度 target_state.d_phi = 0.0f; // 目标俯仰角速度
// target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度 // target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
// target_state.d_theta = 0.0f; // 目标摆杆角速度 // target_state.d_theta = 0.0f; // 目标摆杆角速度
@ -474,8 +473,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol, c->feedback.imu.gyro.x, c->dt); float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol, c->feedback.imu.gyro.x, c->dt);
// 目标腿长设定 // 目标腿长设定
target_L0[0] = 0.15f + c_cmd->height * 0.01f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿 target_L0[0] = 0.15f + c_cmd->height * 0.2f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
target_L0[1] = 0.15f + c_cmd->height * 0.01f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿 target_L0[1] = 0.15f + c_cmd->height * 0.2f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
// 获取腿长变化率 // 获取腿长变化率
VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL); VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
@ -495,7 +494,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力 // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) + virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) +
pid_output + 20.0f; pid_output + 25.0f;
// + // PID腿长控制输出 // + // PID腿长控制输出
// 45.0f; // 基础支撑力 // 45.0f; // 基础支撑力
@ -503,8 +502,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败 // virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败
// Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败 // Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
// Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败 // Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
// if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) { if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) { // if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
if (leg == 0) { if (leg == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque); VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
} else { } else {

18
User/module/config.c
View File

@ -25,7 +25,7 @@ Config_RobotParam_t robot_config = {
.joint_motors[0] = { // 左膝关节 .joint_motors[0] = { // 左膝关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 124, .motor_id = 124,
.host_id = 130, .host_id = 0XFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -33,7 +33,7 @@ Config_RobotParam_t robot_config = {
.joint_motors[1] = { // 左髋关节 .joint_motors[1] = { // 左髋关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 125, .motor_id = 125,
.host_id = 130, .host_id = 0XFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -41,7 +41,7 @@ Config_RobotParam_t robot_config = {
.joint_motors[2] = { // 右髋关节 .joint_motors[2] = { // 右髋关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 126, .motor_id = 126,
.host_id = 130, .host_id = 0XFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -49,7 +49,7 @@ Config_RobotParam_t robot_config = {
.joint_motors[3] = { // 右膝关节 .joint_motors[3] = { // 右膝关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 127, .motor_id = 127,
.host_id = 130, .host_id = 0XFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -92,7 +92,7 @@ Config_RobotParam_t robot_config = {
.leg_length={ .leg_length={
.k = 20.0f, .k = 20.0f,
.p = 1.0f, .p = 10.0f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,
@ -131,7 +131,7 @@ Config_RobotParam_t robot_config = {
{ // 左髋关节 { // 左髋关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 124, .motor_id = 124,
.host_id = 130, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -139,7 +139,7 @@ Config_RobotParam_t robot_config = {
{ // 左膝关节 { // 左膝关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 125, .motor_id = 125,
.host_id = 130, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = false, .reverse = false,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -147,7 +147,7 @@ Config_RobotParam_t robot_config = {
{ // 右膝关节 { // 右膝关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 126, .motor_id = 126,
.host_id = 130, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = true, .reverse = true,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,
@ -155,7 +155,7 @@ Config_RobotParam_t robot_config = {
{ // 右髋关节 { // 右髋关节
.can = BSP_CAN_1, .can = BSP_CAN_1,
.motor_id = 127, .motor_id = 127,
.host_id = 130, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
.reverse = true, .reverse = true,
.mode = MOTOR_LZ_MODE_MOTION, .mode = MOTOR_LZ_MODE_MOTION,

451
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246
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@ -1,130 +1,334 @@
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0
User/module/mod_wheelleg_chassis.cpp → utils/mod_wheelleg_chassis.cpp
View File