添加文件1和文件2

Mecanum Wheel moving project 1/Core/Inc/M3508.h

@@ -0,0 +1,42 @@
+#ifndef __M3508_H
+#define __M3508_H
+#include "main.h"
+#include "PID.h"
+
+// <20><><EFBFBD>̲<EFBFBD><CCB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʻ<EFBFBD>е<EFBFBD>ṹ<EFBFBD><E1B9B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define WHEEL_RADIUS          0.075f// <20><><EFBFBD>Ӱ뾶 (<28><>)
+#define WHEELBASE_WIDTH       0.21f      // <20>־<EFBFBD><D6BE><EFBFBD><EFBFBD><EFBFBD>/2 (<28><>)
+#define WHEELBASE_LENGTH      0.17f      // <20>־೤<D6BE><E0B3A4>/2 (<28><>)
+
+typedef struct
+{
+ uint16_t ecd;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ -16384--+16384
+ int16_t speed_rpm;//ת<><D7AA> תÿ<D7AA><C3BF><EFBFBD><EFBFBD>
+ int16_t given_current;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	uint8_t temperate;//<2F><><EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD>
+	int16_t last_ecd;//<2F>ϴα<CFB4><CEB1><EFBFBD><EFBFBD><EFBFBD>ֵ
+} motor_measure_t;
+
+
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽṹ<C6BD><E1B9B9>
+typedef struct {
+    motor_measure_t measure;    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ٶȵ<D9B6>λ<EFBFBD><CEBB>RPM<50><4D>
+    PID_Controller_t speed_pid; // <20>ٶȻ<D9B6>PID
+    float target_speed;         // Ŀ<><C4BF><EFBFBD>ٶ<EFBFBD> (rad/s)
+} Motor_Controller_t;
+
+
+extern motor_measure_t motor_chassis[4];
+extern Motor_Controller_t motor_controller[4];
+extern int16_t motor_commands[4];
+
+
+extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
+extern float RPM_To_RadPerSec(int16_t rpm);
+extern int16_t RadPerSec_To_RPM(float rad_per_sec);
+extern void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s);
+extern void Motor_Speed_Control_Task(float dt);
+extern void Drive_Motor(float vx, float vy, float vz);
+extern float Map_Remote_to_Speed(int16_t input, float max_speed);
+extern void Process_Remote_Control(void);
+#endif