Fashion Star Wiki #6

main.c  
#include "msp_steering_engine_new.h"
（1）
steeringSetSpeed1 = &GV.Servo_Speed_1;
steeringSetSpeed2 = &GV.Servo_Speed_2;
steeringSetSpeed3 = &GV.Servo_Speed_3;
steeringSetSpeed4 = &GV.Servo_Speed_4;

steeringSetDampingPower1 = &GV.Servo_Power_1;
steeringSetDampingPower2 = &GV.Servo_Power_2;
steeringSetDampingPower3 = &GV.Servo_Power_3;
steeringSetDampingPower4 = &GV.Servo_Power_4;

steeringInitAngle3 = &GV.Steering_Angle_3;
steeringInitAngle4 = &GV.Steering_Angle_4;

GV.Steering_Angle_3 = 93;
GV.Steering_Angle_4 = 93;

steeringRealAngle3 = &GV.Steering_Real_Angle_3;
steeringRealAngle4 = &GV.Steering_Real_Angle_4;
（2）	115200
steering_engine_intialize(&RS_485_1_UART_Handler);

GV.proto添加
int32 Servo_Speed_1 = 25;
int32 Servo_Speed_2 = 26;
int32 Servo_Speed_3 = 27;
int32 Servo_Speed_4 = 28;
int32 Servo_Power_1 = 29;
int32 Servo_Power_2 = 30;
int32 Servo_Power_3 = 31;
int32 Servo_Power_4 = 32;

int32 Steering_Angle_3 = 33;
int32 Steering_Angle_4 = 34;

int32 Steering_Real_Angle_3 = 35;
int32 Steering_Real_Angle_4 = 36;

msp_steering_engine_new.c

25 KiB

msp_steering_engine_new.h

5.0 KiB