robofish/rm_balance
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去掉delay

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Robofish 2025-10-04 23:35:04 +08:00
parent a5dbc24f25
commit acedef346b
1 changed files with 0 additions and 2 deletions
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2
User/module/balance_chassis.c
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@ -21,7 +21,6 @@ static int8_t Chassis_MotorEnable(Chassis_t *c) {
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
// MOTOR_LZ_Enable(&c->param->joint_motors[i]); // MOTOR_LZ_Enable(&c->param->joint_motors[i]);
} }
BSP_TIME_Delay_us(200);
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]); MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
} }
@ -34,7 +33,6 @@ static int8_t Chassis_MotorRelax(Chassis_t *c) {
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
// MOTOR_LK_Relax(&c->param->wheel_motors[i]); // MOTOR_LK_Relax(&c->param->wheel_motors[i]);
} }
BSP_TIME_Delay_us(200);
for (int i = 0; i < 4; i++) { for (int i = 0; i < 4; i++) {
MOTOR_LZ_Relax(&c->param->joint_motors[i]); MOTOR_LZ_Relax(&c->param->joint_motors[i]);
} }