62 lines
1.4 KiB
C
62 lines
1.4 KiB
C
//
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// Created by hu123456 on 2024/1/16.
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//
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#include "mymain.h"
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void mymain()
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{
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HAL_UART_Receive_IT(&huart1, (uint8_t *)g_rx_buffer, RXBUFFERSIZE); //开启串口1接收中断
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HAL_Delay(2000);
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led_init();
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adc_init();
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tle5012b_init();
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// Init_ICM42688();
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// imu_rest();
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moto_Init();
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PID_Iint();
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setvbuf(stdout, NULL, _IONBF, 0); //解决printf没有\n不发送问题
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float x = 0,y=0;
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unsigned int i =0;
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HAL_TIM_Base_Start(&htim5); //启动定时器
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// while(i<2000*1)
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// {
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//// MpuGetData();
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//// GetAngle(&ICM42688,&Angle);
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// Angel_closed_loop(motorx,&FOCStruct_X,3.0);
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// Angel_closed_loop(motory,&FOCStruct_Y,2.2);
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// i++;
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// }
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// i=0;
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// LED_ON;
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while(1)
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{
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// MpuGetData();
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// GetAngle(&ICM42688,&Angle);
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// x = Angle.pitch;
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// y = Angle.roll;
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// Zitai_closed_loop(motorx,&FOCStruct_X,x);
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// Zitai_closed_loop(motory,&FOCStruct_Y,-y);
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// commander_run();
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// x = getAngle(motorx);
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// y = getAngle(motory);
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// x= get_VCC();
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// printf("%fY%f\n",x,y);
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// HAL_Delay(2);
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// speed_closed_loop(motorx,&FOCStruct_X,_2PI*5);
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// speed_closed_loop(motory,&FOCStruct_Y,_2PI*2);
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// printf("b%d\n",b);
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// if(i%3000 ==0)
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// {
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// printf("%d\n",i);
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// }
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// i++;
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//
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// Data_send(x,y);
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// HAL_Delay(3);
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}
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}
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