AimBot/Gimbal
14
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

cleanup: remove unused motor drivers and simplify motor_def.h

Browse Source 
- Remove DJImotor, HTmotor, LKmotor, step_motor, servo_motor directories
- Remove Motor_Control_Setting_s and related enums (Closeloop_Type_e,
  Feedback_Source_e, Feedfoward_Type_e, MOTOR_SEND_MODE_e, Motor_Working_Type_e)
- Merge motor_reverse_flag and feedback_reverse_flag into output_reverse
- Hardcode DM motor control: IMU angle feedback → angle PID → velocity output
- Simplify Motor_Init_Config_s to only: PID params, output_reverse, motor_type, CAN config
This commit is contained in:
李傲琦
2026-05-29 23:45:38 +08:00
parent 4d1702b577
commit 67a26a5ff6
26 changed files with 44 additions and 4068 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Basic_Framework_MC02.ioc
+3 -2
View File
@@ -341,14 +341,15 @@ FDCAN1.DataPrescaler=3
FDCAN1.DataSyncJumpWidth=10
FDCAN1.DataTimeSeg1=29
FDCAN1.DataTimeSeg2=10
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,RxFifo1ElmtsNbr,NominalTimeSeg2,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ProtocolException
FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,RxFifo1ElmtsNbr,NominalTimeSeg2,DataPrescaler,DataSyncJumpWidth,DataTimeSeg1,DataTimeSeg2,ProtocolException,NominalSyncJumpWidth
FDCAN1.NominalPrescaler=3
FDCAN1.NominalSyncJumpWidth=10
FDCAN1.NominalTimeSeg1=29
FDCAN1.NominalTimeSeg2=10
FDCAN1.ProtocolException=ENABLE
FDCAN1.RxFifo0ElmtsNbr=4
FDCAN1.RxFifo1ElmtsNbr=4
FDCAN1.StdFiltersNbr=14
FDCAN1.StdFiltersNbr=1
FDCAN1.TxFifoQueueElmtsNbr=4
FDCAN2.CalculateBaudRateNominal=1000000
FDCAN2.CalculateTimeBitNominal=1000