btl143/BC2D-POS-firmware
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[BC2D-POS] initial commit

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bmy
2024-05-10 10:54:06 +08:00
parent c9da340c46
commit 1c83cbc70a
12 changed files with 155 additions and 50 deletions
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6
app/by_motion.h
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@@ -12,9 +12,9 @@ typedef struct by_motor_param {
float out_pwm;
} by_motor_param;
#define BY_MOTION_DEFAULT_KP_M1 (5.0f)
#define BY_MOTION_DEFAULT_KI_M1 (100.0f)
#define BY_MOTION_DEFAULT_KD_M1 (0.0f)
#define BY_MOTION_DEFAULT_KP_M1 (10.0f)
#define BY_MOTION_DEFAULT_KI_M1 (80.0f)
#define BY_MOTION_DEFAULT_KD_M1 (0.08f)
#define BY_MOTION_DEFAULT_KP_M2 (5.0f)
#define BY_MOTION_DEFAULT_KI_M2 (100.0f)
#define BY_MOTION_DEFAULT_KD_M2 (0.0f)