Revision 10:f83b0935a8f0, committed 2022-07-09

Comitter:

ganlikun

Date:

Sat Jul 09 11:58:13 2022 +0000

Parent:

9:c082f1c52936

Commit message:

00000

Changed in this revision

diff -r c082f1c52936 -r f83b0935a8f0 main.cpp
--- a/main.cpp	Thu Jul 07 11:38:10 2022 +0000
+++ b/main.cpp	Sat Jul 09 11:58:13 2022 +0000
@@ -17,7 +17,7 @@
 
 int main() 
 {
-     //Timer t;
+     Timer tim;
      //float a=PI/8;
     //float j=0.558,P=0;
 ////////////////////////初始化//////////////////////////////////////
@@ -35,7 +35,7 @@
     pf_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
     pf_rxMsg.len = 6;
     PF_can.len   = 8;
-    PF_can.id    = 0x03;
+    PF_can.id    = 0x02;
     
     df_can.frequency(800000);
     df_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
@@ -148,15 +148,22 @@
  /////////////////////////////////////////////////////////////////////////////////////////////       
 
 ///////////////////////////////////////velocity///////////////////////////////////////////////
-
+    tim.start(); 
+//    float timeRecord()
+    float s =tim.read();
+    if(s >= 10.0f) {
+            tim.reset();
+       }
+   
         a_control.pf.p_des=0;
-        a_control.pf.v_des=500*2*3.14/60/49;
+        a_control.pf.v_des=500*2*3.14/60/50*(sin(3.14/5*s)+1);
         a_control.pf.kp=0;
         a_control.pf.kd=5;
         a_control.pf.t_ff=0;
 
         a_control.df.p_des=0;
-        a_control.df.v_des=500*2*3.14/60/49;//49减速比，
+         a_control.df.v_des=100*2*3.14/60/50*s;
+//        a_control.df.v_des=500*2*3.14/60/50;//50减速比，
         a_control.df.kp=0;
         a_control.df.kd=5;
         a_control.df.t_ff=0;
@@ -166,4 +173,4 @@
 
 ////////////////////////////////////////////////////////////////////////////////////////////////
     }
-}
\ No newline at end of file
+}