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添加电机

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Robofish 2026-01-10 02:57:47 +08:00
parent dd27f0ba8b
commit 71466bc61e
1 changed files with 24 additions and 1 deletions
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25
User/task/ctrl_chassis.c
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@ -22,6 +22,8 @@ MOTOR_LK_Param_t chassis_motor_params[4] = {
{BSP_CAN_1, 0x203, MOTOR_LK_MF9025, false},
{BSP_CAN_1, 0x204, MOTOR_LK_MF9025, false}
};
MOTOR_LK_t *chassis_motors[4] = {NULL, NULL, NULL, NULL};
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -38,13 +40,34 @@ void Task_ctrl_chassis(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
BSP_CAN_Init();
// 注册所有底盘电机
for (int i = 0; i < 4; i++) {
MOTOR_LK_Register(&chassis_motor_params[i]);
}
// 延时等待电机稳定
osDelay(100);
// 开启所有电机
for (int i = 0; i < 4; i++) {
MOTOR_LK_MotorOn(&chassis_motor_params[i]);
}
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
// 更新所有电机数据
for (int i = 0; i < 4; i++) {
MOTOR_LK_Update(&chassis_motor_params[i]);
}
// 设置电机输出
MOTOR_LK_SetOutput(&chassis_motor_params[0], 0.5f);
MOTOR_LK_Ctrl(&chassis_motor_params[0]);
MOTOR_LK_SetOutput(&chassis_motor_params[1], 0.5f);
MOTOR_LK_SetOutput(&chassis_motor_params[2], 0.5f);
MOTOR_LK_SetOutput(&chassis_motor_params[3], 0.5f);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */