【待优化】解决PID控制不及时问题，电机查询命令降频，陀螺仪改为全局变量（这里有待商议）

RBcore/TL720D.c

@@ -41,6 +41,7 @@
  * 模块级变量                                   *
  *----------------------------------------------*/
 static MSP_TL720DParameters g_stTL720D = {0};
+volatile int32_t g_RF_Angle_Roll = 0;
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -120,12 +121,12 @@ static void decode_TL720D(const char *buf, uint32_t _iSize)
 	g_stTL720D.RF_Gro_Y = getDeci((uint8_t *)&buf[25]);
 	g_stTL720D.RF_Gro_Z = getDeci((uint8_t *)&buf[28]);
 
+	g_RF_Angle_Roll = g_stTL720D.RF_Angle_Roll;
 	uint32_t uiNowTick = Rd_GetTime();
 	if ((int32_t)(uiNowTick - uiLastSendTick) >= 50)
 	{
 		uiLastSendTick = uiNowTick;
 		MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
-		MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
 		MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_TL720D, NULL, 0);
 	}
 }

project/paint_robot_new/paint_robot_new_motors.c

@@ -189,6 +189,8 @@ void MotorTask(void *argument)
     	else if (g_isMotorInit > 0)
     	{
     		static int LS_Motor_Config_Count = 0;
+    		static int iStatusQueryCycle = 0;
+
 			if (LS_Motor_Config_Count <= 200)
 			{
 				LS_Motor_Config_Count++;
@@ -197,6 +199,15 @@ void MotorTask(void *argument)
 				MotorMgr_SetWatchdog(g_apstMotors[1], 1000);
 				Rd_Delay(4);
 			}
+			
+			MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
+			Rd_Delay(4);
+			MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
+			Rd_Delay(4);
+
+			if (++iStatusQueryCycle >= 10)
+			{
+				iStatusQueryCycle = 0;
 				MotorMgr_RequestPosition(g_apstMotors[0]);
 				Rd_Delay(4);
 				MotorMgr_RequestPosition(g_apstMotors[1]);
@@ -209,10 +220,7 @@ void MotorTask(void *argument)
 				Rd_Delay(4);
 				MotorMgr_RequestVelocity(g_apstMotors[1]);
 				Rd_Delay(4);
-			MotorMgr_SetTargetSpeed(g_apstMotors[0], g_aiMotorSpeed[0]);
+			}
-			Rd_Delay(4);
-			MotorMgr_SetTargetSpeed(g_apstMotors[1], g_aiMotorSpeed[1]);
-			Rd_Delay(4);
     	}
     }
 }