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PID CAN setup fix

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This commit is contained in:
Valentin Dabstep 2025-05-27 16:33:02 +03:00
parent 013768ad1c
commit 5fa3db6e6c
4 changed files with 37 additions and 23 deletions
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33
controller/fw/embed/src/process_can.cpp
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@ -129,23 +129,24 @@ void setup_angle(float target_angle) {
motor.move(target_angle);
}
void setup_pid_angle(uint8_t param_pid, float data){
switch (param_pid) {
case pid_p:
motor.P_angle.P = data;
break;
case pid_i:
motor.P_angle.I = data;
break;
case pid_d:
motor.P_angle.D = data;
break;
default:
break;
}
// void setup_pid_angle(uint8_t param_pid, uint32_t data){
// conv_float_to_int.f = data;
// switch (param_pid) {
// case pid_p:
// motor.P_angle.P = conv_float_to_int.f;
// break;
// case pid_i:
// motor.P_angle.I = conv_float_to_int.f;
// break;
// case pid_d:
// motor.P_angle.D = conv_float_to_int.f;
// break;
// default:
// break;
// }
write_param(param_pid,data);
}
// write_param(param_pid,data);
// }
void listen_can(const CAN_message_t &msg) {