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2023/3/13第五次参数飞行测试

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lijie
2024-03-14 16:50:56 +08:00
parent 6e701f3ae8
commit c1b5b5fa04
8 changed files with 881 additions and 902 deletions
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40
APP/mymain.c
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@ -1,12 +1,12 @@
//
// Created by hu123456 on 2024/1/16.
// Created by lijie on 2024/1/16.
//
#include "mymain.h"
void mymain()
{
HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
setvbuf(stdout, NULL, _IONBF, 0); //<2F><><EFBFBD><EFBFBD>printfû<66><C3BB>\n<><6E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_Delay(2000);
led_init();
adc_init();
@ -15,34 +15,32 @@ void mymain()
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;
unsigned int a =0;
HAL_TIM_Base_Start(&htim5); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
// while(i<2000*1)
// {
//// MpuGetData();
//// GetAngle(&ICM42688,&Angle);
// Angel_closed_loop(motorx,&FOCStruct_X,3.0);
// Angel_closed_loop(motory,&FOCStruct_Y,2.2);
// i++;
// }
// i=0;
while(a<2200*6)
{
MpuGetData();
GetAngle(&ICM42688,&Angle);
// Angel_closed_loop(motorx,&FOCStruct_X,x);
// Angel_closed_loop(motory,&FOCStruct_Y,y);
a++;
}
// 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);
MpuGetData();
GetAngle(&ICM42688,&Angle);
x = Angle.pitch;
y = Angle.roll + 90.f;
Zitai_closed_loop(motorx,&FOCStruct_X,x);
Zitai_closed_loop(motory,&FOCStruct_Y,-y);
// commander_run();
// x = getAngle(motorx);
// y = getAngle(motory);
// x= get_VCC();
// printf("%fY%f\n",x,y);
// HAL_Delay(2);
// HAL_Delay(10);
// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
// printf("b%d\n",b);