feat: 增加转塔电机接口

2024-06-14 17:43:50 +08:00
parent 26ae090e72
commit dc858825ed
1 changed files with 7 additions and 0 deletions
--- a/app/by_messy.c
+++ b/app/by_messy.c
@@ -148,6 +148,13 @@ void by_messy_loop(void)
        by_can_send_stdd(0x00D, (uint8_t *)&buff_t_u16, 2, 100);
        break;

+      case 0x55: // 设置转轴速度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00E, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
      case 0x61: // 设置闪灯
        by_frame_send(cmd, buff);
        memcpy(buff_t_u8, buff, sizeof(buff[1]));