Diff: main.cpp

Revision:

2:9418258519ea

Parent:

0:dd5d4837292c

--- a/main.cpp	Thu Aug 05 02:11:41 2021 +0000
+++ b/main.cpp	Fri Aug 06 09:03:02 2021 +0000
@@ -14,17 +14,6 @@
 #include "timer.h"
 
 
-float ankp = 0.0f;
-float ankv = 0.0f;
-float ankt = 0.0f;
-
-float knp = 0.0f;
-float knv = 0.0f;
-float knt = 0.0f;
-
-float count=0.0f;
-float result_knee=0.0f;
-float result_ankle=0.0f;
 
 ////////////////////////////////////////////////////////////////////////////////
 //                           PID调试                          //
@@ -33,94 +22,37 @@
 
 int main()
 {
-
+     // Timer ttt;
+     
+      
 ////////////////////////初始化//////////////////////////////////////
     pc.baud(115200);                                                            // U2
-    pc.attach(&serial_pc_isr);
+    
 
     foot.baud(115200);                                                          // U1
     foot.attach(&serial_board_isr);
 
-    command.baud(115200);                                                       // U3
-    command.attach(&serial_command_isr);
+   // command.baud(115200);                                                       // U3
+   // command.attach(&serial_command_isr);
+    
 
-    ankle_can.frequency(1000000);
-    ankle_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
-    ankle_rxMsg.len = 6;
-    ankle_txMsg.len   = 8;
-    ankle_txMsg.id    = 0x01;
-
-    knee_can.frequency(1000000);
-    knee_can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
-    knee_rxMsg.len = 6;
-    knee_txMsg.len   = 8;
-    knee_txMsg.id    = 0x02;
+  
 ////////////////////////////////////////////////////////////////////////////////
 
-    wait(4);
-    EnterMotorMode(&knee_txMsg);
-    EnterMotorMode(&ankle_txMsg);
-    Zero(&knee_txMsg);
-    Zero(&ankle_txMsg);
+    NVIC_SetPriority(USART1_IRQn, 1);                                           // command中断优先级高于board
+    NVIC_SetPriority(USART3_IRQn, 3);
       
-    tim.start();
-    
-    while(1) {    
-        ankle_can.read(ankle_rxMsg);
-        unpack_reply(ankle_rxMsg, &a_state);
-        wait_us(100);
-        knee_can.read(knee_rxMsg);
-        unpack_reply(knee_rxMsg, &a_state);
-    
-        ankp = a_state.ankle_state.p;                                           // 从CAN获得的当前位置
-        ankv = a_state.ankle_state.v;
-        ankt = a_state.ankle_state.t;
-  
-        knp = a_state.knee_state.p;                                            // 从CAN获得的当前位置
-        knv = a_state.knee_state.v;
-        knt = a_state.knee_state.t;
        
-        control(ankp, knp);
-        
-        if(send_enable == 1){ 
-            PackAll();
-            WriteAll(); 
-        }
-//      pc.printf("p:%.3f\tv:%.3f\tKp:%.3f\tKd:%.3f\ttff:%.3f\n",a_control.ankle.p_des, a_control.ankle.v_des, a_control.ankle.kp, a_control.ankle.kd, a_control.ankle.t_ff);     
-//      pc.printf("%.3f\t%.3f\t%.3f\t%.3f\t%.3f\n", a_state.knee_state.p, a_control.knee.p_des, a_state.ankle_state.p, a_control.ankle.p_des,tim.read());  
-//      pc.printf("AB%.3f\t%.3f\t%.3f\t%.3f\t%.3f\t%.3f\n", a_state.knee_state.p, a_control.knee.p_des, a_state.knee_state.t, a_state.ankle_state.p, a_control.ankle.p_des, a_state.ankle_state.t);  
-        
-        pc.printf("AB");
-        if(a_state.knee_state.p >= 0)
-            pc.printf("+%.3f\t",a_state.knee_state.p);
-        else
-            pc.printf("%.3f\t",a_state.knee_state.p);
-        
-        if(a_control.knee.p_des >= 0)
-            pc.printf("+%.3f\t",a_control.knee.p_des);
-        else
-            pc.printf("%.3f\t",a_control.knee.p_des);
-        
-        if(a_state.knee_state.t >= 0)
-            pc.printf("+%.3f\t",a_state.knee_state.t);
-        else
-            pc.printf("%.3f\t",a_state.knee_state.t);
-        
-        if(a_state.ankle_state.p >= 0)
-            pc.printf("+%.3f\t",a_state.ankle_state.p);
-        else
-            pc.printf("%.3f\t",a_state.ankle_state.p);
-        
-        if(a_control.ankle.p_des >= 0)
-            pc.printf("+%.3f\t",a_control.ankle.p_des);
-        else
-            pc.printf("%.3f\t",a_control.ankle.p_des);
-             
-        if(a_state.ankle_state.t >= 0)
-            pc.printf("+%.3f\n",a_state.ankle_state.t);
-        else
-            pc.printf("%.3f\n",a_state.ankle_state.t);       
-        
-        
+    
+    while(1) {   
+    /*
+       ttt.start(); 
+       ttt.read();
+       if(ttt.read()>2)
+       {
+         pc.printf("Helloee\n");  
+        ttt.reset();   
+        } 
+        */   
     }
 }
\ No newline at end of file