pref: 上电复位到指定位置

BC4D.code-workspace

@@ -30,7 +30,7 @@
             "titleBar.activeBackground": "#1A4A07",
             "titleBar.activeForeground": "#F3FEEF"
         },
-        "EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
+        "EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
         "cortex-debug.variableUseNaturalFormat": true
     }
 }

app/by_servo.c

@@ -2,6 +2,7 @@
 
 #include "at32f415.h"
 #include "lwprintf.h"
+#include "by_debug.h"
 
 /**
  * @brief 设置云台摇臂
@@ -136,11 +137,12 @@ void by_servo_set_storage(int16_t angle)
 void by_servo_init(void)
 {
   // 后续要不全初始化为空值，由主控按顺序初始化
-  by_servo_set_claw_arm(220); // 36-220
   by_servo_set_claw(25); // 25-90
   by_servo_set_camera(45);
   by_servo_set_scoop(0);
   by_servo_set_storage(0);
+  delay_sec(4);
+  by_servo_set_claw_arm(220); // 36-220
 }
 
 void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)