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MW22-01A
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更改速度计算

This commit is contained in:
起床就犯困 2025-08-11 15:07:21 +08:00
parent de3940a003
commit acc2096d7b
2 changed files with 30 additions and 7 deletions
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27
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -550,11 +550,22 @@ static void ptz_hori_pid_task()
g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count;
static uint32_t time, lastTime, horiTime;
time = OSTimeGet();
horiTime = time - lastTime;
if (horiTime < 0) {
continue;
}
lastTime = time;
if(g_ptz.hori_pid.hall_h123_count >= 2)
{
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
(float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
(float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
}
@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count;
static uint32_t time, lastTime, vertTime;
time = OSTimeGet();
vertTime = time - lastTime;
if (vertTime < 0) {
continue;
}
lastTime = time;
if(g_ptz.vert_pid.hall_h123_count >= 2)
{
// g_ptz.vert_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
// (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
(float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
(float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
}

10
PROJECT/OS2.ewp
View File

@ -74,7 +74,7 @@
</option>
<option>
<name>OGChipSelectEditMenu</name>
<state>GD32F450xE GD GD32F450xE</state>
<state>GD32F470xE GigaDevice GD32F470xE</state>
</option>
<option>
<name>GenLowLevelInterface</name>
@ -120,17 +120,17 @@
</option>
<option>
<name>GFPUDeviceSlave</name>
<state>GD32F450xE GD GD32F450xE</state>
<state>GD32F470xE GigaDevice GD32F470xE</state>
</option>
<option>
<name>FPU2</name>
<version>0</version>
<state>0</state>
<state>4</state>
</option>
<option>
<name>NrRegs</name>
<version>0</version>
<state>0</state>
<state>1</state>
</option>
<option>
<name>NEON</name>
@ -825,7 +825,7 @@
</option>
<option>
<name>IlinkIcfFile</name>
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
</option>
<option>
<name>IlinkIcfFileSlave</name>