btl143/BC5D-POS-firmware
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

initial commit

Browse Source
This commit is contained in:
bmy
2024-06-10 18:04:45 +08:00
commit 7f47ae4259
117 changed files with 54265 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
app/by_motion.h Normal file
View File

@@ -0,0 +1,36 @@
#ifndef _BY_MOTION_H__
#define _BY_MOTION_H__
#include "at32f425.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 (600.0f)
#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 void by_motion_tmr_handle(void);
extern by_motor_param param_m1;
extern by_motor_param param_m2;
#endif