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zrg 2021-12-17 14:39:29 +08:00
parent 74a9a74e00
commit f2045da6b0
1 changed files with 9 additions and 9 deletions
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18
arduino/main/main.ino
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@ -67,7 +67,7 @@ float LQR_K4_2 = 1.5; //
float LQR_K4_3 = 1.42; // float LQR_K4_3 = 1.42; //
//电机参数 //电机参数
BLDCMotor motor = BLDCMotor(5); BLDCMotor motor = BLDCMotor(7);
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22); BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
float target_velocity = 0; float target_velocity = 0;
float target_angle = 89.3; float target_angle = 89.3;
@ -135,18 +135,18 @@ void setup() {
ESP.restart(); ESP.restart();
} }
// eeprom 读取 // eeprom 读取
float nan = EEPROM.readFloat(0); float nan = EEPROM.readFloat(0);
if(isnan(nan)) if(isnan(nan))
{ {
Serial.println("frist write"); Serial.println("frist write");
EEPROM.writeFloat(0, target_angle); delay(10); EEPROM.writeFloat(0, target_angle); delay(10);EEPROM.commit();
EEPROM.writeFloat(4, swing_up_voltage); delay(10); EEPROM.writeFloat(4, swing_up_voltage); delay(10);EEPROM.commit();
EEPROM.writeFloat(8, swing_up_angle); delay(10); EEPROM.writeFloat(8, swing_up_angle); delay(10);EEPROM.commit();
EEPROM.writeFloat(12, v_p_1); delay(10); EEPROM.writeFloat(12, v_p_1); delay(10);EEPROM.commit();
EEPROM.writeFloat(16, v_i_1); delay(10); EEPROM.writeFloat(16, v_i_1); delay(10);EEPROM.commit();
EEPROM.writeFloat(20, v_p_2); delay(10); EEPROM.writeFloat(20, v_p_2); delay(10);EEPROM.commit();
EEPROM.writeFloat(24, v_i_2); delay(10); EEPROM.writeFloat(24, v_i_2); delay(10);EEPROM.commit();
EEPROM.commit();
} }
else else
{ {