54 lines
1.7 KiB
C
54 lines
1.7 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/config.h"
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#include "bsp/can.h"
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#include "device/motor_rm.h"
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#include "component/pid.h"
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#include "component/user_math.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Exported variables ------------------------------------------------------- */
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// 机器人参数配置
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Config_RobotParam_t robot_config = {
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// .shoot_param = {
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// .trig_motor_param = {
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// .can = BSP_CAN_1,
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// .id = 0x201,
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// .module = MOTOR_M2006,
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// .reverse = false,
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// .gear = true,
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// },
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// .trig_pid_param = {
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// .k = 12.0f,
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// .p = 1.0f,
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// .i = 0.0f,
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// .d = 0.0450000018f,
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// .i_limit = 1.0f,
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// .out_limit = 1.0f,
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// .d_cutoff_freq = -1.0f,
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// .range = M_2PI,
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// },
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// .num_trig_tooth = 8.0f,
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// .fric_radius = 0.03f,
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// .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
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// }
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};
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/* Private function prototypes ---------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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Config_RobotParam_t* Config_GetRobotParam(void) {
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return &robot_config;
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} |