Diff: main.cpp

Revision:

9:c082f1c52936

Parent:

4:3f7a59212142

--- a/main.cpp	Mon Jun 13 12:25:22 2022 +0000
+++ b/main.cpp	Thu Jul 07 11:38:10 2022 +0000
@@ -15,7 +15,7 @@
 ////////////////////////////////////////////////////////////////////////////////
 
 
-int main()
+int main() 
 {
      //Timer t;
      //float a=PI/8;
@@ -35,20 +35,21 @@
     pf_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
     pf_rxMsg.len = 6;
     PF_can.len   = 8;
-    PF_can.id    = 0x02;
+    PF_can.id    = 0x03;
     
     df_can.frequency(800000);
     df_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
     df_rxMsg.len = 6;
-    DF_can.len   = 8;
+    DF_can.len   = 8;    
     DF_can.id    = 0x02;
     
 /////////////////////////////////////position///////////////////////////////////////////
     wait(6);
       Zero(&PF_can);
+      EnterMotorMode(&PF_can);
+       
       Zero(&DF_can);//0位置
-    EnterMotorMode(&PF_can);
-    EnterMotorMode(&DF_can);//电机模式
+      EnterMotorMode(&DF_can);//电机模式
     
 /*
     a_control.pf.p_des=PI/8;
@@ -80,9 +81,9 @@
         float pfkv = a_state.pf.v;
         float pfkt = a_state.pf.t;
 
-        //float dfp = a_state.df.p;
-       // float dfv = a_state.df.v;
-       // float dft = a_state.df.t;
+        float dfp = a_state.df.p;
+        float dfv = a_state.df.v;
+        float dft = a_state.df.t;
 
        // pc.printf("%.3f--%.3f--%.3f==================%.3f--%.3f--%.3f\n",pfkp,pfkv,pfkt,dfp,dfv,dft);
        // pc.printf("%.4f,%.3f,%.3f,%.4f,%.3f,%.4f\n",pfkp,pfkv,pfkt,a_control.pf.p_des,j,P);
@@ -159,6 +160,7 @@
         a_control.df.kp=0;
         a_control.df.kd=5;
         a_control.df.t_ff=0;
+        
         PackAll();
         WriteAll();