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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,22 +1,22 @@ | ||
| #include "delay.h" | ||
|
|
||
| void delay_ms(const unsigned int t) { | ||
| unsigned int i; | ||
| for (i = 0; i < t; ++i) { | ||
| int a = 42000; | ||
| while (a--) | ||
| ; | ||
| } | ||
| unsigned int i; | ||
| for (i = 0; i < t; ++i) { | ||
| int a = 42000; | ||
| while (a--) | ||
| ; | ||
| } | ||
| } | ||
| void delay_us(const unsigned int t) { | ||
| unsigned int i; | ||
| for (i = 0; i < t; ++i) { | ||
| int a = 40; | ||
| while (a--) | ||
| ; | ||
| } | ||
| unsigned int i; | ||
| for (i = 0; i < t; ++i) { | ||
| int a = 40; | ||
| while (a--) | ||
| ; | ||
| } | ||
| } | ||
| void delay(u16 t) { | ||
| while (t--) | ||
| ; | ||
| while (t--) | ||
| ; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -10,7 +10,6 @@ | |
| //---- | ||
| #pragma once | ||
|
|
||
| // TODO: 还差一些限制条件没写完 | ||
| #include "beep.h" | ||
| #include "bluetooth.h" | ||
| #include "can.h" | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| #pragma once | ||
|
|
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| #include "motorparam.h" | ||
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| typedef enum { | ||
| OK = 0, // 无故障 | ||
| BAT_LOW_ERR = 1, // 欠压故障 | ||
| OVER_CURRENT_ERR = 2, // 过流 | ||
| OVER_TEMP_ERR = 3, // 过温 | ||
| MAGNETIC_ERR = 4, // 磁编码故障 | ||
| HALL_ERR_ERR = 5, // HALL编码故障 | ||
| NO_CALIBRATION_ERR = 6 // 未标定 | ||
| } CyberGearState; // 电机状态（故障信息） | ||
|
|
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| typedef enum { | ||
| RESET_MODE = 0, // Reset[模式] | ||
| CALI_MODE = 1, // Cali 模式[标定] | ||
| RUN_MODE = 2, // Motor模式[运行] | ||
| } CyberGearContorlMode; // 电机运行模式 | ||
|
|
||
| typedef struct { | ||
| uint32_t id : 8; // 只占8位 | ||
| uint32_t data : 16; | ||
| uint32_t mode : 5; | ||
| uint32_t res : 3; | ||
| } EXTID; | ||
|
|
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| typedef struct CyberGear { | ||
| bool init; | ||
| u8 id; | ||
| MotorValue(float) real; | ||
| MotorValue(float) set; | ||
| MotorMonitor monitor; | ||
| float kp, kd; | ||
| float lastAngleDeg; | ||
| float initReadAngle; | ||
| float initSetAngle; | ||
| } CyberGear; | ||
|
|
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| void CyberGearInit(CyberGear* motor, u8 id); | ||
| void CyberGearStatueControl(u8 controlword, u8 id); | ||
| void CyberGearreceiveHandle(CyberGear* motor, CanRxMsg msg); | ||
| void CyberGearCommunicate(CyberGear* motor, float _pos, float _speed, float _torque, float _kp, float _kd); | ||
| void CyberGearRun(CyberGear* motor); | ||
| void CyberGearMonitor(CyberGear* motor); |
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