btl143/QD4C-firmware
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feat: 增加通信内容

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井明江
2024-03-30 11:51:14 +08:00
parent a9b488bc6e
commit add61d0af3
5 changed files with 32 additions and 20 deletions
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16
app/jj_motion.c
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@@ -51,11 +51,12 @@ float sp_Kd = 0.0f;
float in_speed;
float out_speed;
float set_speed0 = 460.0f;
float set_speed1 = 460.0f;
int cnt1 = 0;
int cnt2 = 0;
uint32_t in_state = 0;
float set_speed0 = 460.0f;
float set_speed1 = 460.0f;
int cnt1 = 0;
int cnt2 = 0;
uint8_t in_state = 0;
uint8_t in_stop = 0;
uint32_t pwm_duty_ls;
uint32_t pwm_duty_rs;
@@ -86,7 +87,10 @@ float sport_get_speed(void)
void sport_motion(void)
{
if (1 == in_state) {
if (1 == in_stop) {
bt_fly_flag = bt_run_flag = 0;
}
if (0 == in_state || 2 == in_state) {
PID_SetTunings(&far_gyro_pid, an_Kp1, an_Ki1, an_Kd1);
PID_SetTunings(&near_pos_pid, po_Kp1, po_Ki1, po_Kd1);
PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);