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添加ADC采集电压和RGB灯

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lijie
2024-03-08 15:19:23 +08:00
parent 7749d1d7b7
commit fa1cc826f1
14 changed files with 1189 additions and 915 deletions
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31
APP/mymain.c
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@ -9,35 +9,40 @@ 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>
HAL_Delay(2000);
led_init();
adc_init();
tle5012b_init();
Init_ICM42688();
imu_rest();
// Init_ICM42688();
// 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;
HAL_TIM_Base_Start(&htim5); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
// while(i<3300*3)
// while(i<2000*1)
// {
// Angel_closed_loop(motorx,&FOCStruct_X,-0.2);
// Angel_closed_loop(motory,&FOCStruct_Y,2.3);
//// MpuGetData();
//// GetAngle(&ICM42688,&Angle);
// Angel_closed_loop(motorx,&FOCStruct_X,3.0);
// Angel_closed_loop(motory,&FOCStruct_Y,2.2);
// i++;
// }
// i=0;
LED_ON;
// 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);
commander_run();
// MpuGetData();
// GetAngle(&ICM42688,&Angle);
// x = Angle.pitch;
// y = Angle.roll;
// 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);
// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
// printf("b%d\n",b);