From 71466bc61eeeaf7027780c903745c86fa0fb4d86 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 10 Jan 2026 02:57:47 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=94=B5=E6=9C=BA?=
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---
 User/task/ctrl_chassis.c | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 4726893..36c1a8b 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -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 */