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修改dm

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Robofish 2026-01-08 10:52:20 +08:00
parent 51f899bada
commit e0dd2ed84a
1 changed files with 23 additions and 3 deletions
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26
User/device/motor_dm.c
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@ -111,11 +111,21 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp; uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
uint16_t id = motor->param.can_id; uint16_t id = motor->param.can_id;
pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16); /* 根据 reverse 参数调整控制值 */
vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12); float angle = output->angle;
float velocity = output->velocity;
float torque = output->torque;
if (motor->param.reverse) {
angle = -angle;
velocity = -velocity;
torque = -torque;
}
pos_tmp = float_to_uint(angle, DM_P_MIN , DM_P_MAX, 16);
vel_tmp = float_to_uint(velocity, DM_V_MIN , DM_V_MAX, 12);
kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12); kp_tmp = float_to_uint(output->kp, DM_KP_MIN, DM_KP_MAX, 12);
kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12); kd_tmp = float_to_uint(output->kd, DM_KD_MIN, DM_KD_MAX, 12);
tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12); tor_tmp = float_to_uint(torque, DM_T_MIN , DM_T_MAX, 12);
/* 打包数据 */ /* 打包数据 */
data[0] = (pos_tmp >> 8); data[0] = (pos_tmp >> 8);
@ -151,6 +161,11 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
uint8_t data[8] = {0}; uint8_t data[8] = {0};
/* 根据 reverse 参数调整控制值 */
if (motor->param.reverse) {
pos = -pos;
vel = -vel;
}
/* 直接发送浮点数数据 */ /* 直接发送浮点数数据 */
memcpy(&data[0], &pos, 4); // 位置，低位在前 memcpy(&data[0], &pos, 4); // 位置，低位在前
@ -179,6 +194,11 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
uint8_t data[4] = {0}; uint8_t data[4] = {0};
/* 根据 reverse 参数调整控制值 */
if (motor->param.reverse) {
vel = -vel;
}
/* 直接发送浮点数数据 */ /* 直接发送浮点数数据 */
memcpy(&data[0], &vel, 4); // 速度，低位在前 memcpy(&data[0], &vel, 4); // 速度，低位在前