增加限位

MDK-ARM/.vscode/keil-assistant.log

@@ -6,3 +6,5 @@
 
 [info] Log at : 2025/10/17|20:08:11|GMT+0800
 
+[info] Log at : 2025/10/19|16:41:15|GMT+0800
+

MDK-ARM/.vscode/uv4.log

@@ -1,4 +1,4 @@
 *** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
 Build target 'zzzzh'
 "zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:05

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/10/17 20:08:32
+2025/10/19 16:41:29

MDK-ARM/zzzzh.uvoptx

@@ -143,7 +143,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -161,20 +161,15 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>dr16,0x0A</ItemText>
+          <ItemText>bmi088,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>bmi088,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
           <ItemText>imu_eulr,0x0A</ItemText>
         </Ww>
         <Ww>
-          <count>3</count>
+          <count>2</count>
           <WinNumber>1</WinNumber>
           <ItemText>imu_temp_pid_param</ItemText>
         </Ww>
@@ -183,27 +178,17 @@
         <Ww>
           <count>0</count>
           <WinNumber>2</WinNumber>
-          <ItemText>dr16,0x0A</ItemText>
+          <ItemText>chassis_fb,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>2</WinNumber>
-          <ItemText>chassis_fb</ItemText>
+          <ItemText>chassis_cmd,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>2</WinNumber>
-          <ItemText>cmd_to_chassis</ItemText>
+          <ItemText>dr16,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>chassis</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>2</WinNumber>
-          <ItemText>\\zzzzh\../User/task/test.c\chassis.limit</ItemText>
         </Ww>
       </WatchWindow2>
       <Tracepoint>
@@ -212,7 +197,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>1</aLwin>
+        <aLwin>0</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>

MDK-ARM/zzzzh.uvprojx

@@ -81,7 +81,7 @@
           </BeforeMake>
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>1</RunUserProg2>
+            <RunUserProg2>0</RunUserProg2>
             <UserProg1Name></UserProg1Name>
             <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>

MDK-ARM/zzzzh/zzzzh.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.32.0.0
  
 <h2>Project:</h2>
 c:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
-Project File Date:  10/14/2025
+Project File Date:  10/19/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
@@ -50,7 +50,7 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>
 
    * Component: ARM::CMSIS:CORE:5.0.1
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:05
 </pre>
 </body>
 </html>

MDK-ARM/zzzzh/zzzzh_zzzzh.dep

@@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
 I (..\User\task\user_task.h)(0x68ECF321)
 I (..\User\module\config.h)(0x68DCDCE8)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\bsp\can.h)(0x68EE5C62)
 I (..\Core\Inc\can.h)(0x68EE5A24)
 I (..\User\bsp\bsp.h)(0x68EE5C62)
@@ -1966,7 +1966,7 @@ I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2)
 F (..\User\module\config.c)(0x68DDDFDF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_zzzzh

-ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include

-ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx

-o zzzzh/config.o -MD)
 I (..\User\module\config.h)(0x68DCDCE8)
 I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
 I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
 I (..\User\bsp\can.h)(0x68EE5C62)
@@ -2025,7 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
 I (..\User\device\motor_rm.h)(0x68EE5C18)
 I (..\User\device\motor.h)(0x68EE5C18)
 I (..\User\device\device.h)(0x68EE5C63)
-F (..\User\module\chassis.c)(0x68F22AA4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_zzzzh

-ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include

-ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx

-o zzzzh/chassis.o -MD)
+F (..\User\module\chassis.c)(0x68F4A0FB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_zzzzh

-ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include

-ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx

-o zzzzh/chassis.o -MD)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
 I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
 I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@@ -2083,7 +2083,7 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE)
 I (..\User\device\motor_rm.h)(0x68EE5C18)
 I (..\User\device\motor.h)(0x68EE5C18)
 I (..\User\device\device.h)(0x68EE5C63)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\component\filter.h)(0x68EE5C62)
 I (..\User\component\mixer.h)(0x68EE5C62)
 I (..\User\component\pid.h)(0x68EE5C62)
@@ -2102,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
 I (..\User\module\config.h)(0x68DCDCE8)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\bsp\can.h)(0x68EE5C62)
 I (..\Core\Inc\can.h)(0x68EE5A24)
 I (..\Core\Inc\main.h)(0x68EE5A28)
@@ -2166,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
 I (..\User\module\config.h)(0x68DCDCE8)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\bsp\can.h)(0x68EE5C62)
 I (..\Core\Inc\can.h)(0x68EE5A24)
 I (..\Core\Inc\main.h)(0x68EE5A28)
@@ -2229,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
 I (..\User\module\config.h)(0x68DCDCE8)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\bsp\can.h)(0x68EE5C62)
 I (..\Core\Inc\can.h)(0x68EE5A24)
 I (..\Core\Inc\main.h)(0x68EE5A28)
@@ -2293,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
 I (..\User\module\config.h)(0x68DCDCE8)
-I (..\User\module\chassis.h)(0x68ECF095)
+I (..\User\module\chassis.h)(0x68F49369)
 I (..\User\bsp\can.h)(0x68EE5C62)
 I (..\Core\Inc\can.h)(0x68EE5A24)
 I (..\Core\Inc\main.h)(0x68EE5A28)

User/module/chassis.c

@@ -19,8 +19,10 @@
 
 
 static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) {
-    if (!c) return CHASSIS_ERR_NULL;
+    if (!c) 
-    if (mode == c->mode) return CHASSIS_OK;
+			return CHASSIS_ERR_NULL;
+    if (mode == c->mode)
+			return CHASSIS_OK;
 
     if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
         srand(now);
@@ -47,18 +49,21 @@ static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
 int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
                     AHRS_Eulr_t *mech_zero, float target_freq) {
     if (!c) return CHASSIS_ERR_NULL;
-
     c->param = param;
     c->mode = CHASSIS_MODE_RELAX;
-
+		c->mech_zero = *mech_zero;
-
+		c->feedback.imu.eulr = *mech_zero;
-c->mech_zero = *mech_zero;
-c->feedback.imu.eulr = *mech_zero;
 
 if (param->reverse.yaw) {
     CircleReverse(&(c->mech_zero.yaw));
     c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI;
 }
+    c->limit.vx.max = param->limit.max_vx; 
+    c->limit.vx.min = -param->limit.max_vx;
+    c->limit.vy.max = param->limit.max_vy; 
+    c->limit.vy.min = -param->limit.max_vy;
+    c->limit.wz.max = param->limit.max_wz; 
+    c->limit.wz.min = -param->limit.max_wz;
 
     Mixer_Mode_t mixer_mode;
     switch (param->type) {
@@ -95,24 +100,23 @@ if (param->reverse.yaw) {
         PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, &param->pid.motor_pid_param);
         LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in);
         LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out);
+			
+				c->feedback.motor[i].rotor_speed = 0;
+        c->feedback.motor[i].torque_current = 0;
+        c->feedback.motor[i].rotor_abs_angle = 0;
+        c->feedback.motor[i].temp = 0;
     }
 
     PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, &param->pid.follow_pid_param);
     Mixer_Init(&c->mixer, mixer_mode);
 
     c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f;
-    for (uint8_t i = 0; i < c->num_wheel; i++) {
-        c->feedback.motor[i].rotor_speed = 0;
-        c->feedback.motor[i].torque_current = 0;
-        c->feedback.motor[i].rotor_abs_angle = 0;
-        c->feedback.motor[i].temp = 0;
-    }
 		for (uint8_t i = 0; i < c->num_wheel; i++) { 
 				c->out.motor[i] = 0.0f;
 		}
 		for (int i = 0; i < c->num_wheel; i++) {
 			MOTOR_RM_Register(&(c->param->motor_param[i]));
-			c->motors[i] = MOTOR_RM_GetMotor(&(c->param->motor_param[i])); 
+			 
 		}
     return CHASSIS_OK;
 }
@@ -120,23 +124,27 @@ if (param->reverse.yaw) {
 
 int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback) {
     if (!c || !feedback) return CHASSIS_ERR_NULL;
+	
+	  float yaw = c->param->reverse.yaw ? -feedback->imu.eulr.yaw : feedback->imu.eulr.yaw;
+    while (yaw >  M_PI) yaw -= M_2PI;
+    while (yaw < -M_PI) yaw += M_2PI;
+    c->feedback.imu.eulr.yaw = yaw;
 
-    if (c->param->reverse.yaw) {
-        c->feedback.imu.eulr.yaw = -feedback->imu.eulr.yaw;
-    } else {
-        c->feedback.imu.eulr.yaw = feedback->imu.eulr.yaw;
-    }
 
     for (uint8_t i = 0; i < c->num_wheel; i++) {
 			MOTOR_RM_Update(&(c->param->motor_param[i])); 
-		MOTOR_RM_t *rm_motor = c->motors[i]; 
+//		MOTOR_RM_t *rm_motor = c->motors[i]; 
-				if (rm_motor) {
+//				if (rm_motor) {
-				c->feedback.motor[i] = rm_motor->feedback;
+//				c->feedback.motor[i] = rm_motor->feedback;
-				} 
+//				} 
-					else 
+//					else 
-					{ 
+//					{ 
-					return CHASSIS_ERR_NULL; 
+//					return CHASSIS_ERR_NULL; 
-					} 
+//					} 
+			MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
+         if (rm_motor != NULL) {
+            c->feedback.motor[i] = rm_motor->feedback;
+             }
 		}
     return CHASSIS_OK;
 }
@@ -148,14 +156,16 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
     c->dt = (float)(now - c->last_wakeup) / 1000.0f; 
     c->last_wakeup = now;
 
-if (!isfinite(c->dt) || c->dt <= 0.0f) {
+		if (!isfinite(c->dt) || c->dt <= 0.0f) {
-    c->dt = 0.001f;            
+				c->dt = 0.001f;            
-}
+		}
-if (c->dt < 0.0005f) c->dt = 0.0005f;   
+		if (c->dt < 0.0005f) c->dt = 0.0005f;   
-if (c->dt > 0.050f)  c->dt = 0.050f;    
+		if (c->dt > 0.050f)  c->dt = 0.050f;    
 
     Chassis_SetMode(c, c_cmd->mode, now);
-
+		Clip(&c->move_vec.vx, c->limit.vx.min, c->limit.vx.max);
+    Clip(&c->move_vec.vy, c->limit.vy.min, c->limit.vy.max);
+    Clip(&c->move_vec.wz, c->limit.wz.min, c->limit.wz.max);
     switch (c->mode) {
         case CHASSIS_MODE_BREAK:
             c->move_vec.vx = c->move_vec.vy = 0.0f;
@@ -180,6 +190,7 @@ if (c->dt > 0.050f)  c->dt = 0.050f;
             c->move_vec.wz = 0.0f;
             break;
         case CHASSIS_MODE_OPEN:
+						c->move_vec.wz = c_cmd->ctrl_vec.wz;
         case CHASSIS_MODE_FOLLOW_GIMBAL:
             c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
             break;
@@ -196,9 +207,10 @@ if (c->dt > 0.050f)  c->dt = 0.050f;
 
 
     for (uint8_t i = 0; i < c->num_wheel; i++) {
+				float rf = c->setpoint.motor_rpm[i];
         float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
-        float out_current = 0.0f;
+        //float out_current = 0.0f;
-
+				float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
         switch (c->mode) {
             case CHASSIS_MODE_BREAK:
             case CHASSIS_MODE_FOLLOW_GIMBAL:
@@ -208,7 +220,7 @@ if (c->dt > 0.050f)  c->dt = 0.050f;
                 out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
                 break;
             case CHASSIS_MODE_OPEN:
-                out_current = c->setpoint.motor_rpm[i] / 9000.0f;
+                out_current = c->setpoint.motor_rpm[i] / 7000.0f;
                 break;
             case CHASSIS_MODE_RELAX:
                 out_current = 0.0f;
@@ -216,17 +228,17 @@ if (c->dt > 0.050f)  c->dt = 0.050f;
         }
 
        
-        out_current = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
+         c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
-
+				 Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
-        c->out.motor[i] = out_current;
     }
 
-
+			
     return CHASSIS_OK;
 }
 
 void Chassis_Output(Chassis_t *c) {
-    if (!c) return;
+    if (!c) 
+			return;
 
     //ÿ¸öµç»úÄ¿±êÊä³ö
     for (uint8_t i = 0; i < c->num_wheel; i++) {
@@ -240,7 +252,6 @@ void Chassis_Output(Chassis_t *c) {
         MOTOR_RM_t *rm = c->motors[i];
         if (rm) {
             MOTOR_RM_Ctrl(&rm->param);
-            break;
         }
     }
 }

User/module/chassis.h

@@ -23,6 +23,7 @@ extern "C" {
 #define CHASSIS_ERR_MODE (-3) /* 运行时出配置了错误的ChassisMode_t */
 #define CHASSIS_ERR_TYPE (-4) /* 运行时出配置了错误的Chassis_Type_t */
 	
+#define MAX_MOTOR_CURRENT 20.0f 
 /* 底盘控制模式 */
 typedef enum {
   CHASSIS_MODE_RELAX, /* 放松模式,电机不输出。一般情况底盘初始化之后的模式 */
@@ -52,7 +53,7 @@ typedef struct {
 typedef struct {
   float max;
   float min;
-} Chassis_Limit_t;//移植云台的代码
+} Chassis_Limit_t;
 
 	/* 底盘类型（底盘的物理设计） */
 typedef enum {
@@ -85,7 +86,10 @@ typedef struct {
   struct {
     bool yaw;
   } reverse;
-
+	struct {
+        float max_vx, max_vy, max_wz;
+        float max_current; 
+    } limit; 
 } Chassis_Params_t;
 
 typedef struct {
@@ -136,11 +140,9 @@ typedef struct {
     KPID_t follow; /* 跟随云台用的PID */
   } pid;
  
-//	struct {
+	struct {
-//    Chassis_Limit_t vx;  // ??????
+        Chassis_Limit_t vx, vy, wz; 
-//    Chassis_Limit_t vy;  // ??????
+    } limit; 
-//    Chassis_Limit_t wz;  // ?z???????
-//} limit;
 	
   /* 滤波器 */
   struct {
@@ -226,6 +228,7 @@ void Chassis_ResetOutput(Chassis_t *c);
  */
 //void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
 
+
 #ifdef __cplusplus
 }
 #endif