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fix enable

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xxxxm 2026-03-18 01:51:56 +08:00
parent 50d6c0b337
commit e9e2d62662
3 changed files with 8 additions and 10 deletions
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1
User/module/arm_oop.hpp
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@ -212,6 +212,7 @@ public:
// 更新每个关节 // 更新每个关节
for (Joint* joint : joints_) { // 遍历关节数组 for (Joint* joint : joints_) { // 遍历关节数组
if (joint) { if (joint) {
joint->Enable();
joint->Update(); joint->Update();
} }
} }

8
User/module/config.c
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@ -23,28 +23,28 @@ Config_RobotParam_t robot_config = {
/* DJI3508µç»ú*/ /* DJI3508µç»ú*/
.motor_param = { .motor_param = {
{ {
.can = BSP_CAN_2, .can = BSP_CAN_1,
.id = 0x201, .id = 0x201,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}, },
{ {
.can = BSP_CAN_2, .can = BSP_CAN_1,
.id = 0x202, .id = 0x202,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}, },
{ {
.can = BSP_CAN_2, .can = BSP_CAN_1,
.id = 0x203, .id = 0x203,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,
.gear = true .gear = true
}, },
{ {
.can = BSP_CAN_2, .can = BSP_CAN_1,
.id = 0x204, .id = 0x204,
.module = MOTOR_M3508, .module = MOTOR_M3508,
.reverse = false, .reverse = false,

5
User/task/arm_main.cpp
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@ -286,13 +286,10 @@ void Task_arm_main(void* argument) {
osMessageQueueGet(task_runtime.msgq.arm.cmd, &arm_cmd, NULL, 0); osMessageQueueGet(task_runtime.msgq.arm.cmd, &arm_cmd, NULL, 0);
// 使能状态变化沿处理：仅在变化时下发使能，减少冗余调用
static bool last_enable = false;
if (arm_cmd.enable != last_enable) {
robot_arm->Enable(arm_cmd.enable); robot_arm->Enable(arm_cmd.enable);
}
// 使能上升沿自动同步：避免使能时 target_pose 与当前实际位姿不一致导致初始跳变 // 使能上升沿自动同步：避免使能时 target_pose 与当前实际位姿不一致导致初始跳变
static bool last_enable = false;
if (arm_cmd.enable && !last_enable) { if (arm_cmd.enable && !last_enable) {
SyncCommandTargetFromCurrent(); SyncCommandTargetFromCurrent();
} }