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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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5
APP/tle5012b.c
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@ -175,11 +175,12 @@ double getAngle(unsigned char motor)
{
TLE_CS1_ENABLE;
angle_data = ReadTLE5012B_1(READ_ANGLE_VALUE);
// printf("angle_data:%d\n",angle_data);
d_angle = angle_data - motory_angle_data_prev;
if(fabs(d_angle) > (0.8*cpr) ) motory_full_rotation_offset += d_angle > 0 ? -_2PI : _2PI;
motory_angle_data_prev = angle_data;
TLE_CS1_DISABLE;
return (motory_full_rotation_offset + ( angle_data / (float)cpr) * _2PI) ;
return (motory_full_rotation_offset + ( angle_data / (float)cpr) * _2PI) /2.f;
}
else
{
@ -189,7 +190,7 @@ double getAngle(unsigned char motor)
if(fabs(d_angle) > (0.8*cpr) ) motorx_full_rotation_offset += d_angle > 0 ? -_2PI : _2PI;
motorx_angle_data_prev = angle_data;
TLE_CS2_DISABLE;
return (motorx_full_rotation_offset + ( angle_data / (float)cpr) * _2PI) ;
return (motorx_full_rotation_offset + ( angle_data / (float)cpr) * _2PI) /2.f;
}
}