hobbyking_cheetah source code modified 2020/12/15
Dependencies: mbed-dev-f303 FastPWM3
Diff: structs.h
- Revision:
- 55:71a6e5fe5805
- Parent:
- 48:74a40481740c
--- a/structs.h Thu Aug 08 17:39:43 2019 +0000 +++ b/structs.h Tue Dec 15 07:28:27 2020 +0000 @@ -4,6 +4,12 @@ #include "mbed.h" #include "FastPWM.h" +/* ----- +移除速度控制,把位置控制改成PID + +log file: +11/05: 在ControllerStruct新增ki(desired KI),保留v_des(desired velocity) +----- */ typedef struct{ DigitalOut *enable; @@ -33,7 +39,7 @@ int timeout; // Watchdog counter int mode; int ovp_flag; // Over-voltage flag - float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque + float p_des, v_des, kp, ki, kd, t_ff; // Desired position, velocity, gians, torque float v_ref, fw_int; // output voltage magnitude, field-weakening integral float cogging[128]; } ControllerStruct;