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加入PID

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This commit is contained in:
Wei Zitong
2026-07-15 17:09:24 +08:00
parent 050ae25e9c
commit 8b24a3da19
10 changed files with 139 additions and 3 deletions
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9
Core/Src/freertos.c
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@@ -27,6 +27,7 @@
/* USER CODE BEGIN Includes */
#include "bsp_can.h"
#include "CAN_receive.h"
#include "chassis_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -126,10 +127,10 @@ void MX_FREERTOS_Init(void) {
void StartCAN_Receive_Task(void *argument)
{
/* USER CODE BEGIN StartCAN_Receive_Task */
/* Infinite loop */
for(;;)
{
CAN_cmd_chassis(1000,0,0,0);
osDelay(1);
}
/* USER CODE END StartCAN_Receive_Task */
@@ -145,9 +146,12 @@ void StartCAN_Receive_Task(void *argument)
void StartChassis_Control_Task(void *argument)
{
/* USER CODE BEGIN StartChassis_Control_Task */
chassis_control_init();
chassis_set_speed(100, 0, 0, 0);
/* Infinite loop */
for(;;)
{
chassis_control_task();//电机控制
osDelay(1);
}
/* USER CODE END StartChassis_Control_Task */
@@ -156,4 +160,5 @@ void StartChassis_Control_Task(void *argument)
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/* USER CODE END Application */