diff --git a/Standard_robot/BSP b/Standard_robot/BSP
index 2b2ac1e71a80de9337fe6ed08e9923fc4eb029db..f8edc8107d6a0f1d79b913f70e483e52e8041d11 160000
--- a/Standard_robot/BSP
+++ b/Standard_robot/BSP
@@ -1 +1 @@
-Subproject commit 2b2ac1e71a80de9337fe6ed08e9923fc4eb029db
+Subproject commit f8edc8107d6a0f1d79b913f70e483e52e8041d11
diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste b/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste
new file mode 100644
index 0000000000000000000000000000000000000000..c7a7c60f2fc19b348c04b90574fe07cc16bbb47e
--- /dev/null
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvguix.Baptiste
@@ -0,0 +1,1941 @@
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diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvoptx b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
index 2bb4092e93a36ada6b68ac05eb4f3b991ec51a3f..929927863dba1e8bd77a6dd6336bc3eec3dfa311 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvoptx
+++ b/Standard_robot/MDK-ARM/Standard_robot.uvoptx
@@ -145,6 +145,22 @@
<ExecCommand></ExecCommand>
<Expression></Expression>
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</Breakpoint>
<Tracepoint>
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<GroupName>Application/User</GroupName>
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<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@@ -452,6 +468,18 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
+ <File>
+ <GroupNumber>5</GroupNumber>
+ <FileNumber>19</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\BSP\Device\list_motor.c</PathWithFileName>
+ <FilenameWithoutPath>list_motor.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
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@@ -462,9 +490,9 @@
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<File>
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+ <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\BSP\Algorithm\pid.c</PathWithFileName>
@@ -482,7 +510,7 @@
<RteFlg>0</RteFlg>
<File>
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@@ -494,7 +522,7 @@
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<File>
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+ <FileNumber>22</FileNumber>
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@@ -506,7 +534,7 @@
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@@ -518,7 +546,7 @@
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+ <FileNumber>28</FileNumber>
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diff --git a/Standard_robot/MDK-ARM/Standard_robot.uvprojx b/Standard_robot/MDK-ARM/Standard_robot.uvprojx
index 508c54ea5c67e1316d0f5b6aa10bd44d1b3f12e8..d17cb0aa6d079a3885d75916692f14f31860d149 100644
--- a/Standard_robot/MDK-ARM/Standard_robot.uvprojx
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<FilePath>..\BSP\Device\motor.c</FilePath>
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diff --git a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex b/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
index b84195b9504c5594ca363243dd49a20e84bb9dd4..1b3bb710546c227d6be342d7f88bebef67be9cb1 100644
--- a/Standard_robot/MDK-ARM/Standard_robot/Standard_robot.hex
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diff --git a/Standard_robot/Src/main.c b/Standard_robot/Src/main.c
index fe985f07e26cc1ff02ab678a210545040ef3b18f..43825341297b110fd2a74ecce37c7c91a4c19ff7 100644
--- a/Standard_robot/Src/main.c
+++ b/Standard_robot/Src/main.c
@@ -28,6 +28,7 @@
#include "usart.h"
#include "gpio.h"
+
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -37,10 +38,12 @@
#include "bsp_led.h"
#include "bsp_can.h"
-#include "motor.h"
+
#include "pid.h"
+#include "motor.h"
#include "oled.h"
#include "string.h"
+#include "list_motor.h"
/* USER CODE END Includes */
@@ -64,9 +67,11 @@
/* USER CODE BEGIN PV */
int16_t led_cnt;
float target_speed;
-motor_t gm6020;
+//motor_t gm6020;
motor_t m2006;
+
+
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -132,13 +137,10 @@ int main(void)
can_user_init(&hcan1); // config can filter, start can
-
+ motors_init();
/* USER CODE END 2 */
- gm6020.type = GM6020;
- gm6020.can_info.can_id = 0;
- gm6020.can_info.tx_id = 1;
- gm6020.can_info.rx_id = 0x205;
+
/* Infinite loop */
/* USER CODE BEGIN WHILE */
@@ -152,17 +154,21 @@ int main(void)
/* scan is key be pressd down to change target speed and pwm pulse */
if (key_scan())
{
- gm6020.voltage += 10000;
- if (gm6020.voltage > 30000)
+ gm6020.target += 2000;
+ if (gm6020.target > 7000)
{
- gm6020.voltage = 0;
+ gm6020.target = 0;
+
}
}
+
get_motor_data(&gm6020);
+
+ oled_clear(Pen_Clear);
oled_printf(1, 1, "GM6020");
- oled_printf(2, 1," Voltage: %f", gm6020.info.GM6020_info.angle);
- oled_printf(3, 1," Angle: %f", gm6020.info.GM6020_info.angle);
- oled_printf(4, 1," Speed: %f", 500);
+ oled_printf(2, 1," Target: %f", gm6020.target);
+ oled_printf(3, 1," Speed: %i", gm6020.info.GM6020_info.speed);
+ oled_printf(4, 1," Angle: %i", gm6020.info.GM6020_info.angle);
/* led blink */
led_cnt ++;
@@ -171,9 +177,13 @@ int main(void)
led_cnt = 0;
LED_RED_TOGGLE(); //blink cycle 500ms
}
-
+ for (uint8_t i = 0; i < 4; i++)
+ {
+ set_motor_position(&gm6020);
+ }
+
set_motor_voltage(1, &gm6020, NULL, NULL, NULL); //0x1ff
- set_motor_voltage(0, &m2006, NULL, NULL, NULL); //0x200
+ //set_motor_voltage(0, &m2006, NULL, NULL, NULL); //0x200
oled_refresh_gram();
HAL_Delay(10);