基于MC SDK5.0 API，组件接口函数做在线参数修改，任务2

freeelectron · 2018-09-02T09:08:26+00:00

本帖最后由 freeelectron 于 2018-9-2 17:07 编辑 ' L# B8 [) d Q% T# A' p " _+ ?2 O0 s& F& {/ q' P 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。 3 A. D3 u, s% q9 Q! S- [ 代码添加：主函数，添加头文件： , ]8 B# X! F. g4 ^) B; y/* USER CODE BEGIN Includes */ : e3 w! p8 f/ I" v' u7 @#include "mc_tuning.h"7 q- _! N1 g0 S$ l" l0 M0 S #include "mc_tasks.h" + k; Y9 D$ I- X u" A. I) ] _+ p( C% D. e6 F /* USER CODE END Includes */复制代码定义变量： /* USER CODE BEGIN 1 */ + D4 W* | N9 l3 u* ^( p& [0 c& R7 ] static int16_t Speed_Kp,Speed_Ki;4 k/ S. V" d1 m9 r- d' L ` MCT_Handle_t* pMctHdl; 8 C c" n' H! L7 Z* | /* USER CODE END 1 */复制代码控制程序添加： while (1) - E+ J8 m! J" ^8 ]4 N' Q4 o { 2 @5 l, z. V( X ( Q9 i$ z+ n: M0 N9 L7 g. P /* USER CODE END WHILE */ 6 ^" A, w; f! j0 g7 o- {, W5 e7 Z. t, R2 j /* USER CODE BEGIN 3 */7 \" l9 Y' e6 V, L6 m MC_ProgramSpeedRampMotor1(3000/6,1000); 7 h% b, I/ t! |- q y MC_StartMotor1();3 ?# d$ J5 P: ?2 z4 J: A0 u HAL_Delay(10000); / d, G, ~3 i* F( S w! z$ v MC_StopMotor1(); 7 a1 E; m+ m. ? HAL_Delay(3000); 7 Q2 Q5 G' g9 ` + ^7 |: X" k$ E$ F5 X( B4 o% W pMctHdl = GetMCT(M1);7 t: E. i; K9 H# y ?5 K8 Y Speed_Kp = PID_GetKP(pMctHdl->pPIDSpeed); 9 U( L" i- N8 i: \+ j Speed_Ki = PID_GetKI(pMctHdl->pPIDSpeed); 5 P& Z# O# P" H6 d, B: [8 x PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp*2); 5 v, W2 Z% j" `; Z* h PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki*2); - d" z! n# q8 m! S- w9 m1 x ! O: G7 B7 j/ a9 o MC_ProgramSpeedRampMotor1(3000/6,1000); 0 V: u! T% g8 g1 d' }4 W' J1 E( o MC_StartMotor1();; N# f( ^$ p# c8 Q1 ?# f HAL_Delay(10000);" y4 i! d+ Y6 o6 y, r" b MC_StopMotor1(); + s7 \* _( p3 L6 ^7 m: A HAL_Delay(3000); , H& @; |! I3 Z* w/ n' r% A6 z PID_SetKP(pMctHdl->pPIDSpeed,Speed_Kp/2); 9 g! }# O" N U1 A/ ` PID_SetKI(pMctHdl->pPIDSpeed,Speed_Ki/2);) t- ]8 X0 m2 y" L. }. `, k& | MC_ProgramSpeedRampMotor1(3000/6,1000); & `3 T# N& }' d3 o! K6 d1 E; N+ ~ MC_StartMotor1();" y4 a) ]4 |& N }% ^0 m, f HAL_Delay(10000);- T; w7 N/ ?1 t7 U6 \: k% p% E MC_StopMotor1();2 T' O6 X/ s7 U" b1 _+ o2 P) O HAL_Delay(3000); + h( A l4 v. M: B( B0 q8 D8 q }: p9 u" k7 |4 m /* USER CODE END 3 */8 u$ }" L5 t5 n G' L" V0 R 0 ]6 ^4 }' `6 a}复制代码在mc_tasks.h里面声明：MCT_Handle_t* GetMCT(uint8_t bMotor);复制代码6 p: h: s; L1 u3 J3 k, a 速度波形查看：' ~7 }) r! y J1 F: q0 m ( F; c) D% j/ B9 }7 T, { N " H! }! b6 d/ k, L( Y: ~! w% F1 O" r1 ~0 h. k6 v( x