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2024/1/25飞行测试

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lijie
2024-01-26 15:31:40 +08:00
parent 9be12234ec
commit 08cbf4ba74
5 changed files with 80 additions and 20 deletions
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7
APP/mymain.c
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@ -23,6 +23,7 @@ void mymain()
Angel_closed_loop(motory,&FOCStruct_Y,2.3);
i++;
}
i=0;
LED_ON;
while(1)
{
@ -32,8 +33,8 @@ void mymain()
y = Angle.roll ;
Zitai_closed_loop(motorx,&FOCStruct_X,x);
Zitai_closed_loop(motory,&FOCStruct_Y,-y);
x = getAngle(motorx);
y = getAngle(motory);
// x = getAngle(motorx);
// y = getAngle(motory);
// printf("%fY%f\n",x,y);
// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
@ -44,7 +45,7 @@ void mymain()
// }
// i++;
//
// Data_send(x,y,0,0);
Data_send(x,y);
// HAL_Delay(3);
}
}

16
APP/usart_ano.c
View File

@ -5,11 +5,12 @@
#include "usart_ano.h"
unsigned char Data_Buff[32] ={0XAA,0XFF,0XF1};
//AA FF F1 10 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 AA 37
void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d)
void Data_send(int32_t _a,int32_t _b)
{
unsigned char i,cnt=4;
unsigned char sc=0,ac=0;
Data_Buff[3]=0x08;
Data_Buff[cnt++] = BYTE0(_a);
Data_Buff[cnt++] = BYTE1(_a);
Data_Buff[cnt++] = BYTE2(_a);
@ -20,19 +21,6 @@ void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d)
Data_Buff[cnt++] = BYTE2(_b);
Data_Buff[cnt++] = BYTE3(_b);
Data_Buff[cnt++] = BYTE0(_c);
Data_Buff[cnt++] = BYTE1(_c);
Data_Buff[cnt++] = BYTE2(_c);
Data_Buff[cnt++] = BYTE3(_c);
Data_Buff[cnt++] = BYTE0(_d);
Data_Buff[cnt++] = BYTE1(_d);
Data_Buff[cnt++] = BYTE2(_d);
Data_Buff[cnt++] = BYTE3(_d);
Data_Buff[3]=cnt-4;
for(i=0;i<cnt;i++)
{
sc+=Data_Buff[i];

4
APP/usart_ano.h
View File

@ -10,6 +10,6 @@
#define BYTE2(dwTemp) ( *( (char *)(&dwTemp) + 2) )
#define BYTE3(dwTemp) ( *( (char *)(&dwTemp) + 3) )
void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d);
void Data_send(int32_t _a,int32_t _b);
//void Data_send(int32_t _a,int32_t _b,int32_t _c,int32_t _d);
#endif //FOC_N_USART_ANO_H