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fix: remove duplicate pid_ref from DMMotorInstance

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DMMotorInstance had its own pid_ref field while motor_controller already
has pid_ref. Use motor_controller.pid_ref uniformly.
This commit is contained in:
李傲琦
2026-05-30 00:36:32 +08:00
parent 075495791a
commit 3e77eed2bb
2 changed files with 2 additions and 3 deletions
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modules/motor/DMmotor/dmmotor.c
+2 -2
View File
@@ -188,7 +188,7 @@ DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)
void DMMotorSetRef(DMMotorInstance *motor, float ref) void DMMotorSetRef(DMMotorInstance *motor, float ref)
{ {
motor->pid_ref = ref; motor->motor_controller.pid_ref = ref;
} }
void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode) void DMMotorSetCtrlMode(DMMotorInstance *motor, DM_Motor_Mode_e mode)
@@ -218,7 +218,7 @@ void DMMotorControl(void)
/* angle PID: IMU feedback → velocity output */ /* angle PID: IMU feedback → velocity output */
float pid_ref = PIDCalculate(&motor->motor_controller.angle_PID, float pid_ref = PIDCalculate(&motor->motor_controller.angle_PID,
*motor->motor_controller.other_angle_feedback_ptr, *motor->motor_controller.other_angle_feedback_ptr,
motor->pid_ref); motor->motor_controller.pid_ref);
if (motor->output_reverse == OUTPUT_DIRECTION_REVERSE) if (motor->output_reverse == OUTPUT_DIRECTION_REVERSE)
pid_ref *= -1; pid_ref *= -1;
modules/motor/DMmotor/dmmotor.h
-1
View File
@@ -57,7 +57,6 @@ typedef struct
float mit_kp; // MIT mode KP (motor internal position gain, 0~500) float mit_kp; // MIT mode KP (motor internal position gain, 0~500)
float mit_kd; // MIT mode KD (motor internal velocity gain, 0~5) float mit_kd; // MIT mode KD (motor internal velocity gain, 0~5)
float pid_ref; // reference input from application
} DMMotorInstance; } DMMotorInstance;
/* DM motor init config */ /* DM motor init config */