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修复电机错误时没有自动停止

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This commit is contained in:
sunbeam 2024-08-31 15:42:56 +08:00
parent ed19bbba6e
commit a46acb9bf3
1 changed files with 7 additions and 1 deletions
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8
BCZT/user/MotorCtrl.c
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@ -141,7 +141,7 @@ void setMotorState(uint8_t motorid,uint8_t act)
uint16_t MotorTarget[6] = {0}; uint16_t MotorTarget[6] = {0};
void setMotorTarget(uint8_t motorid,uint16_t target) void setMotorTarget(uint8_t motorid,uint16_t target)
{ {
if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0) if (MotorHardStop1[motorid]!=0 && MotorHardStop2[motorid]!=0 && MotorErr[motorid] != 0)
{ {
MotorTarget[motorid] = target; MotorTarget[motorid] = target;
} }
@ -765,6 +765,11 @@ void MotorCtrl(void)//10ms
MotorStateReal[i] = MotorState[i]; MotorStateReal[i] = MotorState[i];
if (MotorState[i] == ACT_NOACT && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 ) if (MotorState[i] == ACT_NOACT && MotorHardStop1[i] != 0 && MotorHardStop2[i] != 0 )
{ {
if (MotorErr[i] != 0)
{
MotorTarget[i] = 0;
}
if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i]) if (MotorTarget[i]!=0 && MotorHardStop1[i] > MotorTarget[i] && MotorTarget[i] > MotorHardStop2[i])
{ {
if (MotorTarget[i] > MotorHallLoc[i]+10) if (MotorTarget[i] > MotorHallLoc[i]+10)
@ -970,6 +975,7 @@ void HallDetecte(void)
{ {
HallErrorCount[i] = 500; HallErrorCount[i] = 500;
MotorErr[i] = 1; MotorErr[i] = 1;
MotorTarget[i] = 0;
} }
} }