feat: 增加上电回零

2024-05-12 09:26:34 +08:00
parent 82e5f25e3a
commit 5831580e55
1 changed files with 8 additions and 0 deletions
--- a/app/by_motion.c
+++ b/app/by_motion.c
@@ -154,6 +154,14 @@ void by_motion_init(void)

  motion_enable_flag = 1;
  DRV_ENABLE();
+
+  // 上电回零
+  DWT_Delay(3000000);
+  by_motion_set_speed_m1(-4);
+  while (SET == gpio_input_data_bit_read(GPIOB, GPIO_PINS_3)) {
+    // 等待复位
+  }
+  by_motion_set_speed_m1(0);
 }

 void by_motion_run(void)