91av视频/亚洲h视频/操亚洲美女/外国一级黄色毛片 - 国产三级三级三级三级

資源簡介

適用于stm32f4系列芯片

資源截圖

代碼片段和文件信息

#include?“main.h“
#include?“stdio.h“

static?uint32_t?can_count?=?0;

volatile?Encoder?CM1Encoder?=?{000000000};
volatile?Encoder?CM2Encoder?=?{000000000};
volatile?Encoder?CM3Encoder?=?{000000000};
volatile?Encoder?CM4Encoder?=?{000000000};
volatile?Encoder?GMYawEncoder?=?{000000000};
volatile?Encoder?GMPitchEncoder?=?{000000000};
float?ZGyroModuleAngle?=?0.0f;
/*
***********************************************************************************************
*Name??????????:GetEncoderBias
*Input?????????:can?message
*Return????????:void
*Description???:to?get?the?initiatial?encoder?of?the?chassis?motor?201?202?203?204
*
*
***********************************************************************************************
*/

void?GetEncoderBias(volatile?Encoder?*v?CanRxMsg?*?msg)
{

????????????v->ecd_bias?=?(msg->Data[0]<<8)|msg->Data[1];??//保存初始編碼器值作為偏差??
????????????v->ecd_value?=?v->ecd_bias;
????????????v->la

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