本帖最后由 freeelectron 于 2018-9-2 17:07 编辑 3 z+ Y H. {" d; @
* ~0 a% ~* t, _4 t# X 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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代码添加: 主函数,添加头文件:
7 n& r2 |$ p& m# {5 w8 Z- /* USER CODE BEGIN Includes */
, r- f& U! a$ i - #include "mc_tuning.h"4 i1 H9 t, F1 K* B
- #include "mc_tasks.h"
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- /* USER CODE END Includes */
复制代码 定义变量: - /* USER CODE BEGIN 1 */
7 P Q/ S$ E* N - static int16_t Speed_Kp,Speed_Ki;
. t6 `/ W1 w/ K! H. S! E( Y - MCT_Handle_t* pMctHdl;0 v2 I* ]5 v/ ?5 I
- /* USER CODE END 1 */
复制代码 控制程序添加:- while (1)
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( I; }2 K! h& o- /* USER CODE END WHILE */
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, e. D" j8 c! g2 \, l$ e+ D% S- /* USER CODE BEGIN 3 */+ P2 ]2 o9 d9 O2 e1 F+ L
- MC_ProgramSpeedRampMotor1(3000/6,1000);
?$ ^9 E- V. i T# a& M. O - MC_StartMotor1();( A! c$ H7 h% m6 w
- HAL_Delay(10000);+ V( G C' s# y$ F: C, H0 t: P/ I
- MC_StopMotor1();8 Y$ v4 n' M! K# p- d
- HAL_Delay(3000);* M( b" q5 F% E) c0 Y6 X+ L$ W u, R
-
! g1 b+ m5 L! X, y& \: Q8 _7 I - pMctHdl = GetMCT(M1);0 B+ P4 `+ |8 l. v: A7 k6 s$ t
- Speed_Kp = PID_GetKP(pMctHdl->pPIDSpeed);, x! b( M+ R3 l l8 E
- Speed_Ki = PID_GetKI(pMctHdl->pPIDSpeed);4 {6 V$ s T0 _. g0 n e
- PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2);
2 S0 t( w Z) a8 K - PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2);2 J7 E4 N2 u ^! T$ P5 Y0 m k% j
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7 ], x; t5 P. H5 K( ~ - MC_ProgramSpeedRampMotor1(3000/6,1000);( d# H- `% |: G0 E7 P% P
- MC_StartMotor1();; V, Q4 B! B b8 d
- HAL_Delay(10000);) ]$ `+ \, }; R* y x) m
- MC_StopMotor1();! E, Y; P+ c h
- HAL_Delay(3000);
, A. Q- v3 m: T8 z2 l - PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp/2);( J3 ?" M ~4 x8 }$ { z6 E5 y3 j
- PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki/2);
7 `: @ X7 f6 [ - MC_ProgramSpeedRampMotor1(3000/6,1000);
' K- T9 ?! T; }# b# O - MC_StartMotor1();
2 E9 z- ?/ n% w - HAL_Delay(10000);
1 |" I' l3 d1 y) U - MC_StopMotor1();1 ]# n9 s; D; O" J& N V2 g* Y
- HAL_Delay(3000); + i7 \2 W) g8 S) E n7 H
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- /* USER CODE END 3 */) F5 `- ^: Y, z$ X
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复制代码 在mc_tasks.h里面声明:- MCT_Handle_t* GetMCT(uint8_t bMotor);
复制代码
2 I6 ?5 h- ~7 r9 w 速度波形查看:# h% o) |: V4 o3 f- e+ ]: N
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