From 9be12234ec36aeecf88b3ae080f19e70ea984437 Mon Sep 17 00:00:00 2001 From: lijie Date: Wed, 24 Jan 2024 16:03:07 +0800 Subject: [PATCH] first commit --- APP/mymain.c | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/APP/mymain.c b/APP/mymain.c index c99bf0e..14a8eeb 100644 --- a/APP/mymain.c +++ b/APP/mymain.c @@ -20,25 +20,20 @@ void mymain() while(i<3300*3) { Angel_closed_loop(motorx,&FOCStruct_X,-0.2); - Angel_closed_loop(motory,&FOCStruct_Y,0.7); + Angel_closed_loop(motory,&FOCStruct_Y,2.3); i++; } LED_ON; - - while(1) { - MpuGetData();// - - - + 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); + 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); @@ -49,7 +44,7 @@ void mymain() // } // i++; // - Data_send(x,y,0,0); +// Data_send(x,y,0,0); // HAL_Delay(3); } } \ No newline at end of file