lijie/foc_Gimbal
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lijie
2024-01-24 16:03:07 +08:00
parent 2c58355e63
commit 9be12234ec
1 changed files with 7 additions and 12 deletions
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19
APP/mymain.c
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@ -20,25 +20,20 @@ void mymain()
while(i<3300*3) while(i<3300*3)
{ {
Angel_closed_loop(motorx,&FOCStruct_X,-0.2); 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++; i++;
} }
LED_ON; LED_ON;
while(1) while(1)
{ {
MpuGetData();// MpuGetData();
GetAngle(&ICM42688,&Angle); GetAngle(&ICM42688,&Angle);
x = Angle.pitch; x = Angle.pitch;
y = Angle.roll ; y = Angle.roll ;
// Zitai_closed_loop(motorx,&FOCStruct_X,x); Zitai_closed_loop(motorx,&FOCStruct_X,x);
// Zitai_closed_loop(motory,&FOCStruct_Y,-y); Zitai_closed_loop(motory,&FOCStruct_Y,-y);
// x = getAngle(motorx); x = getAngle(motorx);
// y = getAngle(motory); y = getAngle(motory);
// printf("%fY%f\n",x,y); // printf("%fY%f\n",x,y);
// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5); // speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2); // speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
@ -49,7 +44,7 @@ void mymain()
// } // }
// i++; // i++;
// //
Data_send(x,y,0,0); // Data_send(x,y,0,0);
// HAL_Delay(3); // HAL_Delay(3);
} }
} }