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feat: 增加速度环

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bmy
2024-04-26 16:13:07 +08:00
parent 05cab94699
commit 6bac98da0a
12 changed files with 303 additions and 136 deletions
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26
app/by_motion.h
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@@ -3,11 +3,33 @@
#include "at32f413.h"
typedef struct by_motor_param {
float Kp;
float Ki;
float Kd;
float real_speed;
float target_speed;
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_M2 (5.0f)
#define BY_MOTION_DEFAULT_KI_M2 (100.0f)
#define BY_MOTION_DEFAULT_KD_M2 (0.0f)
extern void by_motion_init(void);
extern void by_motion_run(void);
extern void by_motion_set_pwm_m1(int32_t pwm_duty);
extern void by_motion_set_pwm_m2(int32_t pwm_duty);
extern int16_t by_motion_get_speed_m1(void);
extern int16_t by_motion_get_speed_m2(void);
extern void by_motion_set_speed_m1(int16_t speed);
extern void by_motion_set_speed_m2(int16_t speed);
extern void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len);
extern int16_t speed_m1;
extern int16_t speed_m2;
extern by_motor_param param_m1;
extern by_motor_param param_m2;
#endif