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接受延时

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Robofish 2025-10-05 16:05:47 +08:00
parent 555317ea3b
commit 6035580f27
1 changed files with 2 additions and 1 deletions
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3
User/module/balance_chassis.c
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@ -5,6 +5,7 @@
/* Includes ----------------------------------------------------------------- */
#include "module/balance_chassis.h"
#include "bsp/can.h"
#include "bsp/time.h"
#include "component/user_math.h"
#include "device/motor_lk.h"
#include "module/config.h"
@ -83,7 +84,7 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
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
return DEVICE_OK;
}