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Robofish 2025-10-05 01:57:06 +08:00
parent 59472bd2e8
commit 84c8d72e38
3 changed files with 6 additions and 6 deletions
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8
User/module/config.c
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@ -27,7 +27,7 @@ Config_RobotParam_t robot_config = {
{ {
{ {
// 左髋关节 // 左髋关节
.can = BSP_CAN_2, .can = BSP_CAN_1,
.motor_id = 124, .motor_id = 124,
.host_id = 0xFF, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
@ -36,7 +36,7 @@ Config_RobotParam_t robot_config = {
}, },
{ {
// 左膝关节 // 左膝关节
.can = BSP_CAN_2, .can = BSP_CAN_1,
.motor_id = 125, .motor_id = 125,
.host_id = 0xFF, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
@ -45,7 +45,7 @@ Config_RobotParam_t robot_config = {
}, },
{ {
// 右膝关节 // 右膝关节
.can = BSP_CAN_2, .can = BSP_CAN_1,
.motor_id = 126, .motor_id = 126,
.host_id = 0xFF, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,
@ -54,7 +54,7 @@ Config_RobotParam_t robot_config = {
}, },
{ {
// 右髋关节 // 右髋关节
.can = BSP_CAN_2, .can = BSP_CAN_1,
.motor_id = 127, .motor_id = 127,
.host_id = 0xFF, .host_id = 0xFF,
.module = MOTOR_LZ_RSO3, .module = MOTOR_LZ_RSO3,

2
User/task/ctrl_lz.c
View File

@ -123,7 +123,7 @@ void Task_ctrl_lz(void *argument) {
motor_frame.data[6] = (velocity_int >> 8) & 0xFF; motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
motor_frame.data[7] = velocity_int & 0xFF; motor_frame.data[7] = velocity_int & 0xFF;
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame); BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &motor_frame);
} }
} }

2
User/task/init.c
View File

@ -31,7 +31,7 @@ void Task_Init(void *argument) {
/* 创建任务线程 */ /* 创建任务线程 */
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink); task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
// task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu); task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu);
task_runtime.thread.ctrl_lz = osThreadNew(Task_ctrl_lz, NULL, &attr_ctrl_lz); task_runtime.thread.ctrl_lz = osThreadNew(Task_ctrl_lz, NULL, &attr_ctrl_lz);
// 创建消息队列 // 创建消息队列