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新电机增加系数解决转速一样问题

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liumin
2025-11-07 18:29:15 +08:00
parent 894c4fae89
commit 7035f73327
2 changed files with 5 additions and 5 deletions
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6
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c
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@@ -34,15 +34,15 @@ void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint
int16_t abs_right_front_speed = (int16_t)(out_torq[1]);
int16_t abs_left_rear_speed = (int16_t)(out_torq[2]);
int16_t abs_right_rear_speed = (int16_t)(out_torq[3]);
int16_t abs_right_rear_speed = (int16_t)(out_torq[3]*0.73); //20251107 修改新电机增加系数 解决不同步问题
// 设置左右电机期望转速
un_motor_output1.bit_data.MotCon_1Signal3 = (uint16_t)(-abs_right_front_speed);//20250502方向原因，需要把1号电机控制器的左右电机反相
un_motor_output2.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_right_rear_speed);
un_motor_output2.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_right_rear_speed);
un_motor_output1.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_left_front_speed);
un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)abs_left_rear_speed;
un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)abs_left_rear_speed;
// // 设置模式为恒速模式

4
boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c
View File

@@ -265,9 +265,9 @@ void processWriteRequestFrame(UnParamRequest *paramRequest, uint32_t sender_ip,
for (int i = 0; i < 256; ++i) {
if (strlen((char *)paramRequest->bit_data.param_name[i]) > 0) {
writeParameter(paramRequest->bit_data.param_name[i], paramRequest->bit_data.data[i]);
//printf("paramRequest->bit_data.param_name[i]:%s \n",paramRequest->bit_data.param_name[i]);
printf("paramRequest->bit_data.param_name[i]:%s \n",paramRequest->bit_data.param_name[i]);
memcpy(&value, paramRequest->bit_data.data[i], sizeof(float));
//printf("paramRequest->bit_data.data[i]:%f \n", value);
printf("paramRequest->bit_data.data[i]:%f \n", value);
}
}