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修改温度模块的KGF通道以及取消打印

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liumin
2025-07-07 18:26:01 +08:00
parent 8c9396e1f5
commit f50f31e5bd
4 changed files with 1789 additions and 1790 deletions
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10
app/app_differential_drive.c
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@@ -353,7 +353,7 @@ void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max
} }
else{} else{}
printf("input_torq: left=%.1f right=%.1f yaw_rate=%.1f\n", left_speed_mps, right_speed_mps, yaw_rate); // printf("input_torq: left=%.1f right=%.1f yaw_rate=%.1f\n", left_speed_mps, right_speed_mps, yaw_rate);
motor_speed[0] = left_speed_mps; motor_speed[0] = left_speed_mps;
motor_speed[2] = left_speed_mps; motor_speed[2] = left_speed_mps;
@@ -866,12 +866,12 @@ void diffParametersInit(void *signal_id)
diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩 diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩
printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate); // printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate); // printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate); // printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
printf("left_motor_speed = %f\n",diff_data.left_motor_speed); // printf("left_motor_speed = %f\n",diff_data.left_motor_speed);
printf("right_motor_speed = %f\n",diff_data.right_motor_speed); // printf("right_motor_speed = %f\n",diff_data.right_motor_speed);
// printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed); // printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
// printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", diff_data.out_torq[0], diff_data.out_torq[1], diff_data.out_torq[2], diff_data.out_torq[3]); // printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", diff_data.out_torq[0], diff_data.out_torq[1], diff_data.out_torq[2], diff_data.out_torq[3]);

24
app/app_temp.c
View File

@@ -126,16 +126,16 @@ static void tempOutput(void *signal_id)
switch (temp_data.state[2]) switch (temp_data.state[2])
{ {
case TEMP_NORMAL: case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOff();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF07 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 0; un_inf_can_kgf_output2.bit_data.pwm_07 = 0;
break; break;
case TEMP_WARNING: case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOn();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 5; un_inf_can_kgf_output2.bit_data.pwm_07 = 5;
break; break;
case TEMP_CRITICAL: case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOn();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 0; un_inf_can_kgf_output2.bit_data.pwm_07 = 0;
break; break;
} }
@@ -143,16 +143,16 @@ static void tempOutput(void *signal_id)
switch (temp_data.state[3]) switch (temp_data.state[3])
{ {
case TEMP_NORMAL: case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOff();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF08 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 0; un_inf_can_kgf_output2.bit_data.pwm_08 = 0;
break; break;
case TEMP_WARNING: case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOn();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 5; un_inf_can_kgf_output2.bit_data.pwm_08 = 5;
break; break;
case TEMP_CRITICAL: case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOn();//电机控制器风扇 un_inf_can_kgf_output2.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 0; un_inf_can_kgf_output2.bit_data.pwm_08 = 0;
break; break;
} }

1
main.c
View File

@@ -133,7 +133,6 @@ int main(void)
printf("All init OK ------ %d\n",getCurrentTime()); printf("All init OK ------ %d\n",getCurrentTime());
sdrv_gpio_set_pin_output_level(GPIO_B9, 1); //测量时间
for (;;) for (;;)
{ {
// 处理信号 // 处理信号