btl143/BC5D-POS-firmware
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pref: 加快了复位速度并关闭了部分调试日志输出

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bmy
2024-06-22 20:03:08 +08:00
parent 7f47ae4259
commit f98b720a1c
2 changed files with 7 additions and 6 deletions
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10
app/by_motion.c
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@@ -123,7 +123,7 @@ void by_motion_set_distance2(float distance, int16_t speed)
if (5.0 >= position_abs) { if (5.0 >= position_abs) {
position_abs = 0; position_abs = 0;
by_motion_set_speed_m1(-10); by_motion_set_speed_m1(-20);
motion_busy_flag = 1; motion_busy_flag = 1;
motion_reset_flag = 1; motion_reset_flag = 1;
LOGD("RESET position_abs = %f\r\n", position_abs); LOGD("RESET position_abs = %f\r\n", position_abs);
@@ -180,11 +180,11 @@ void by_motion_init(void)
// 上电回零 // 上电回零
by_motion_set_speed_m1(-20); by_motion_set_speed_m1(-20);
while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_4)) { while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_4)) {
lwprintf("%f, %f, %f\r\n", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm); // lwprintf("%f, %f, %f\r\n", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
// 等待复位 // 等待复位
} }
by_motion_set_speed_m1(0); by_motion_set_speed_m1(0);
by_motion_set_distance2(100, 20); by_motion_set_distance2(100, 30);
} }
void by_motion_run(void) void by_motion_run(void)
@@ -233,8 +233,8 @@ void by_motion_can_handle(uint16_t stdd_id, const uint8_t *data, uint8_t len)
// #endif // #endif
// } // }
LOGD("m1:%f,%f,%f", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm); // LOGD("m1:%f,%f,%f", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
LOGD("m2:%f,%f,%f", param_m2.real_speed, param_m2.target_speed, param_m2.out_pwm); // LOGD("m2:%f,%f,%f", param_m2.real_speed, param_m2.target_speed, param_m2.out_pwm);
} }
void by_motion_tmr_handle(void) void by_motion_tmr_handle(void)

3
project/src/main.c
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@@ -113,12 +113,13 @@ int main(void)
by_motion_init(); by_motion_init();
LOGD("init motion"); LOGD("init motion");
/* add user code end 2 */ /* add user code end 2 */
while(1) while(1)
{ {
/* add user code begin 3 */ /* add user code begin 3 */
lwprintf("%f, %f, %f\r\n", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm); // lwprintf("%f, %f, %f\r\n", param_m1.real_speed, param_m1.target_speed, param_m1.out_pwm);
/* add user code end 3 */ /* add user code end 3 */
} }
} }