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)
{
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);
}
}