feat: 适配新结构，反转电机并增加复位高度

.eide/eide.json

@@ -3,7 +3,6 @@
   "type": "ARM",
   "dependenceList": [],
   "srcDirs": [
-    ".eide/deps",
     "3rd-part",
     "libraries/cmsis",
     "libraries/drivers",
@@ -68,13 +67,11 @@
           "libraries/cmsis/cm4/device_support",
           "project/inc",
           ".cmsis/include",
-          ".eide/deps",
           "3rd-part/PID-Library",
           "app",
           "3rd-part/lwprintf"
         ],
         "libList": [],
-        "sourceDirList": [],
         "defineList": [
           "USE_STDPERIPH_DRIVER",
           "AT32F425C8T7"
@@ -82,5 +79,5 @@
       }
     }
   },
-  "version": "3.3"
+  "version": "3.4"
 }

app/by_motion.c

@@ -24,11 +24,11 @@ void by_motion_set_pwm_m1(int32_t pwm_duty)
   pwm_duty = clip_s32(pwm_duty, -900, 900); // 不可以拉满哦
 
   if (pwm_duty < 0) {
-    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_3, -pwm_duty);
-    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_4, 0);
-  } else {
+    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_4, -pwm_duty);
     tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_3, 0);
-    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_4, pwm_duty);
+  } else {
+    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_4, 0);
+    tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_3, pwm_duty);
   }
 }
 
@@ -49,7 +49,7 @@ int16_t by_motion_get_speed_m1(void)
 {
 #define alpha (0.1f)
   static float last_speed = 0.0f;
-  param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(+1 * (int16_t)tmr_counter_value_get(TMR3));
+  param_m1.real_speed     = alpha * last_speed + (1.0f - alpha) * (float)(-1 * (int16_t)tmr_counter_value_get(TMR3));
   last_speed              = param_m1.real_speed;
   tmr_counter_value_set(TMR3, 0);
   return (int16_t)param_m1.real_speed;
@@ -184,7 +184,7 @@ void by_motion_init(void)
     // 等待复位
   }
   by_motion_set_speed_m1(0);
-  by_motion_set_distance2(100, 30);
+  by_motion_set_distance2(130, 30);
   delay_ms(2600);
   by_motion_set_distance2(0, 30);
 }