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xxxxm 2026-03-18 09:01:14 +08:00
parent e9e2d62662
commit 9f59072aba
3 changed files with 11 additions and 11 deletions
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16
User/device/buzzer.c
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@ -21,14 +21,14 @@ const Tone_t RM[] = {
{NOTE_B, 5, 400},
{NOTE_G, 4, 200},
{NOTE_B, 5, 400},
{NOTE_G, 4, 200},
{NOTE_D, 5, 400},
{NOTE_G, 4, 200},
{NOTE_C, 5, 200},
{NOTE_C, 5, 200},
{NOTE_G, 4, 200},
{NOTE_B, 5, 200},
{NOTE_C, 5, 200}
// {NOTE_G, 4, 200},
// {NOTE_D, 5, 400},
// {NOTE_G, 4, 200},
// {NOTE_C, 5, 200},
// {NOTE_C, 5, 200},
// {NOTE_G, 4, 200},
// {NOTE_B, 5, 200},
// {NOTE_C, 5, 200}
};
// Nokia 经典铃声音符

2
User/task/arm_main.cpp
View File

@ -75,7 +75,7 @@ Arm_CMD_t arm_cmd; // 当前机械臂控制命令（含 target_pose / set_targe
// 2 = 全部六轴输出（完整重力补偿，GRAVITY_COMP模式）
// 3 = 笛卡尔空间控制（旧版满秩库代数雅可比算法）
// 4 = 2.5D 解析降维控制（专为比赛设计的无奇异点稳定版，推荐！）
uint8_t test_stage = 1;
uint8_t test_stage = 0;
Arm6dof_JointAngles_t current_angles; // 调试观察：当前各关节角度 (rad)
// 重力补偿力矩观察数组（对应关节1~6，单位 N·m）
float gravity_torques_dbg[6] = {0.0f};

4
User/task/blink.c
View File

@ -42,8 +42,8 @@ void Task_blink(void *argument) {
BSP_PWM_SetComp(BSP_PWM_TIM5_CH3, 0.0f);
BSP_PWM_Start(BSP_PWM_TIM5_CH3);
BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
BUZZER_PlayMusic(&buzzer, MUSIC_NOKIA);
// BUZZER_Init(&buzzer, BSP_PWM_BUZZER);
BUZZER_PlayMusic(&buzzer, MUSIC_RM);
/* USER CODE INIT END */