first commit

APP/mymain.c

@@ -0,0 +1,55 @@
+//
+// Created by hu123456 on 2024/1/16.
+//
+
+#include "mymain.h"
+
+void mymain()
+{
+    HAL_Delay(2000);
+    led_init();
+    tle5012b_init();
+    Init_ICM42688();
+    imu_rest();
+    moto_Init();
+    PID_Iint();
+    setvbuf(stdout, NULL, _IONBF, 0);  //<2F><><EFBFBD><EFBFBD>printfû<66><C3BB>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    float x = 0,y=0;
+    unsigned int i =0;
+    HAL_TIM_Base_Start(&htim5); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
+    while(i<3300*3)
+    {
+        Angel_closed_loop(motorx,&FOCStruct_X,-0.2);
+        Angel_closed_loop(motory,&FOCStruct_Y,0.7);
+        i++;
+    }
+    LED_ON;
+
+
+    while(1)
+    {
+        MpuGetData();//
+
+
+
+        GetAngle(&ICM42688,&Angle);
+        x = Angle.pitch;
+        y = Angle.roll ;
+//        Zitai_closed_loop(motorx,&FOCStruct_X,x);
+//        Zitai_closed_loop(motory,&FOCStruct_Y,-y);
+//        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);
+//        printf("b%d\n",b);
+//        if(i%3000 ==0)
+//        {
+//            printf("%d\n",i);
+//        }
+//        i++;
+//
+        Data_send(x,y,0,0);
+//        HAL_Delay(3);
+    }
+}