From 7035f73327f482f88372d9c3f30f3e9220cfaef9 Mon Sep 17 00:00:00 2001 From: liumin Date: Fri, 7 Nov 2025 18:29:15 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E7=94=B5=E6=9C=BA=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E7=B3=BB=E6=95=B0=E8=A7=A3=E5=86=B3=E8=BD=AC=E9=80=9F=E4=B8=80?= =?UTF-8?q?=E6=A0=B7=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../app_demo/eth-xip/sf/app/app_differential_drive.c | 6 +++--- .../e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c index 2c52e02..3649476 100644 --- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c +++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_differential_drive.c @@ -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 diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c index aa3b97c..b7950d6 100644 --- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c +++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_param_manage.c @@ -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); } }