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FOC开环调试成功

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cbb
2025-10-16 21:43:19 +08:00
parent 2d807260c5
commit 35801d6f48
13 changed files with 704 additions and 509 deletions
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Robot_V2/device/ADC.cpp
+3 -3
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@@ -7,7 +7,7 @@ constexpr float ERROR_ADC_VAL = 255.0f;
constexpr float ADC_SCALE = 3.3f / 4096.0f;
constexpr float TEMP_FACTOR = 1000.0f / 4.3f;
constexpr float VCC_FACTOR = 11.0f;
constexpr float CURRENT_FACTOR = 1.0f / 50.0f * 100.0f;
constexpr float CURRENT_FACTOR = 1.0f / 50.0f * 100.0f * 1000.0f;
constexpr float MAX_TEMP = 150.0f;
constexpr float MIN_TEMP = -40.0f;
constexpr float MAX_CURRENT = 50.0f;
@@ -83,7 +83,7 @@ float get_current(char type) {
return ERROR_ADC_VAL;
}
}
// 检查电流读数是否在有效范围内
if (current_latest < MIN_CURRENT || current_latest > MAX_CURRENT) {
return ERROR_ADC_VAL;
@@ -102,7 +102,7 @@ float get_vbus_voltage() {
float vcc_latest = ERROR_ADC_VAL;
for (int i = 0; i < 5; i++) {
// 获取电压值
vcc_latest = adc_value[6] * ADC_SCALE * VCC_FACTOR;
vcc_latest = adc_value[5] * ADC_SCALE * VCC_FACTOR;
// 检查电压读数是否在有效范围内
if (vcc_latest > MAX_VCC || vcc_latest < MIN_VCC) {