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feat(FOC): 添加开关机功能并优化定时器配置

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cbb
2025-10-29 21:22:10 +08:00
parent 7f0ca1857b
commit 5d14731af5
6 changed files with 139 additions and 23 deletions
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Robot_V2/device/Can.cpp
+13 -4
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@@ -596,10 +596,19 @@ void CAN_transmiter::communication_check() {
// }
if (receive_message.rx_efid == 0x18ff0200) {
FOC.control_mode = receive_message.rx_data[0];
FOC.limit_voltage =
float(unpack_bytes_to_u16(receive_message.rx_data, 1)) / 1000;
FOC.limit_velocity =
unpack_bytes_to_float(receive_message.rx_data, 3).f;
if (float(unpack_bytes_to_u16(receive_message.rx_data, 1)) / 1000 !=
FOC.limit_voltage) {
FOC.limit_voltage =
float(unpack_bytes_to_u16(receive_message.rx_data, 1)) /
1000;
FOC.is_shut_down = 100; // 1s滤除启动电流
}
if (unpack_bytes_to_float(receive_message.rx_data, 3).f !=
FOC.limit_velocity) {
FOC.limit_velocity =
unpack_bytes_to_float(receive_message.rx_data, 3).f;
FOC.is_shut_down = 100; // 1s滤除启动电流
}
FOC.target_angle =
unpack_bytes_to_float(receive_message.rx_data, 7).f;
FOC.target_velocity =