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神秘小延时

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Robofish 2025-10-05 17:41:45 +08:00
parent 7f1c8f38b4
commit 600568fcff
1 changed files with 2 additions and 2 deletions
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4
User/module/balance_chassis.c
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@ -79,7 +79,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param); MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param);
} }
} }
BSP_TIME_Delay_us(500); // 确保CAN总线有足够时间处理消息
// 检查ID 128 - 左轮控制命令 (与电机发送格式一致) // 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) { if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
wheel_command_received[0] = true; wheel_command_received[0] = true;
@ -98,7 +98,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
chassis->output.wheel[1] = right_out; chassis->output.wheel[1] = right_out;
MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out); MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
} }
BSP_TIME_Delay_us(400); // 确保CAN总线有足够时间处理消息 BSP_TIME_Delay_us(500);
return DEVICE_OK; return DEVICE_OK;
} }