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feat: 增加转塔电机接口

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bmy
2024-06-14 17:43:32 +08:00
parent 29d2285a02
commit 5afdc77476
1 changed files with 27 additions and 0 deletions
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27
app/by_servo.c
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@@ -134,6 +134,29 @@ void by_servo_set_storage(int16_t angle)
#undef PULSE_WIDTH_MAX #undef PULSE_WIDTH_MAX
} }
void by_servo_set_zhuan(int16_t angle)
{
#define PULSE_WIDTH_MIN 0.5f
#define PULSE_WIDTH_MAX 2.5f
uint32_t ch_val = 0;
if (angle < -10) {
angle = -10;
} else if (angle > 10) {
angle = 10;
}
angle += 10;
ch_val = (uint32_t)(((float)angle / 20.0f * (PULSE_WIDTH_MAX - PULSE_WIDTH_MIN) + PULSE_WIDTH_MIN) / 20.0f * 9999.0f);
tmr_channel_value_set(TMR3, TMR_SELECT_CHANNEL_1, ch_val);
#undef PULSE_WIDTH_MIN
#undef PULSE_WIDTH_MAX
}
void by_servo_init(void) 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 // 后续要不全初始化为空值，由主控按顺序初始化
@@ -143,6 +166,7 @@ void by_servo_init(void)
by_servo_set_storage(0); by_servo_set_storage(0);
delay_sec(4); delay_sec(4);
by_servo_set_claw_arm(220); // 36-220 by_servo_set_claw_arm(220); // 36-220
by_servo_set_zhuan(0); //-10-10
} }
void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len) void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
@@ -168,6 +192,9 @@ void by_servo_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
case 0x00D: case 0x00D:
by_servo_set_storage(angle); by_servo_set_storage(angle);
break; break;
case 0x00E:
by_servo_set_zhuan(angle);
break;
default: default:
break; break;
} }