本帖最后由 freeelectron 于 2018-9-2 17:07 编辑 ( P% ~# h7 `8 T' o% U
/ f S6 ^9 d1 F 通过任务2:主要学习,取得MCT句柄,如何找到相关操作函数,调用控制函数以及参数设定。
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- /* USER CODE BEGIN Includes */' a9 E( e, |" E8 D: c, K$ L
- #include "mc_tuning.h"
8 T0 H7 g6 i$ _1 R! ^ - #include "mc_tasks.h"
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- /* USER CODE END Includes */
复制代码 定义变量: - /* USER CODE BEGIN 1 */" N! Q: V! N) K& u |, {
- static int16_t Speed_Kp,Speed_Ki;3 G$ S" g# ~' F6 A
- MCT_Handle_t* pMctHdl;% S( }* j8 d, Q* I: _2 P5 L
- /* USER CODE END 1 */
复制代码 控制程序添加:- while (1)5 V6 P5 `9 ]3 o5 c
- {
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- /* USER CODE END WHILE */6 v) k7 |; q: F" G6 Y" A$ t
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- /* USER CODE BEGIN 3 */
+ N/ ^3 i/ Q9 r/ C6 E$ @+ ~/ J - MC_ProgramSpeedRampMotor1(3000/6,1000);( g; V; }) L7 I5 @3 @. m* w! R$ y
- MC_StartMotor1();: a0 v" P+ }* {7 V: k8 u, K- r
- HAL_Delay(10000);
- G% i2 B+ P+ z - MC_StopMotor1();7 c3 L, {; ~/ S, g4 ~& P" I
- HAL_Delay(3000);
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; N! G0 s6 D A' R: b2 t - pMctHdl = GetMCT(M1);
8 f$ T7 i8 w- v( T- G* T - Speed_Kp = PID_GetKP(pMctHdl->pPIDSpeed);2 C# S! k9 Q1 |" G
- Speed_Ki = PID_GetKI(pMctHdl->pPIDSpeed);
7 L0 e. x3 c! T" P! i7 J! v4 V - PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2);9 \$ w2 n, C" e" Q3 P
- PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);
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- MC_ProgramSpeedRampMotor1(3000/6,1000);# I e- f1 \$ E/ E8 ]7 H
- MC_StartMotor1();
, F1 b# i$ R, t: H% x$ f B - HAL_Delay(10000); C4 c7 f7 d6 j: ~
- MC_StopMotor1();0 A. }7 Y% |# ?
- HAL_Delay(3000);1 r! f2 ^* M3 Y$ X" h% m7 c2 Z% P
- PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp/2);
1 J1 o% u9 n" K7 S* ? - PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki/2); t9 Y1 O* i* i0 @- z2 |" O
- MC_ProgramSpeedRampMotor1(3000/6,1000);! z n5 F. C* p8 S( U! y
- MC_StartMotor1();
1 K& {- z" M& G! u4 q0 V; G1 Q7 W - HAL_Delay(10000);
$ W( T9 S3 I; ^! M9 C - MC_StopMotor1();
: ~# S7 e X% p6 W: r - HAL_Delay(3000);
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- /* USER CODE END 3 */" Q2 ~4 I1 a; J0 q
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复制代码 在mc_tasks.h里面声明:- MCT_Handle_t* GetMCT(uint8_t bMotor);
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速度波形查看:9 F' j$ W) s- ?4 ]1 _" \
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