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修改 move 库中使能端名称为 pin_enx

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lxbpxylps@126.com 2021-02-15 11:16:58 +08:00
parent 2e522a6c83
commit bf41ddf59a
1 changed files with 6 additions and 6 deletions
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12
TaiChi/moveTaiChi.cpp
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@ -43,7 +43,7 @@ float Move::GetCurrentSpeedRate(void)
//控制某个轮子转动 //控制某个轮子转动
void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate) void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
{ {
uint8_t pin_in1, pin_in2, pin_ena; uint8_t pin_in1, pin_in2, pin_enx;
switch (wheel) switch (wheel)
{ {
@ -51,28 +51,28 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
{ {
pin_in1 = LEFT_L298N_IN1; pin_in1 = LEFT_L298N_IN1;
pin_in2 = LEFT_L298N_IN2; pin_in2 = LEFT_L298N_IN2;
pin_ena = LEFT_L298N_ENA; pin_enx = LEFT_L298N_ENA;
} break; } break;
case LEFT_B_WHEEL: case LEFT_B_WHEEL:
{ {
pin_in1 = LEFT_L298N_IN3; pin_in1 = LEFT_L298N_IN3;
pin_in2 = LEFT_L298N_IN4; pin_in2 = LEFT_L298N_IN4;
pin_ena = LEFT_L298N_ENB; pin_enx = LEFT_L298N_ENB;
} break; } break;
case RIGHT_A_WHEEL: case RIGHT_A_WHEEL:
{ {
pin_in1 = RIGHT_L298N_IN1; pin_in1 = RIGHT_L298N_IN1;
pin_in2 = RIGHT_L298N_IN2; pin_in2 = RIGHT_L298N_IN2;
pin_ena = RIGHT_L298N_ENA; pin_enx = RIGHT_L298N_ENA;
} break; } break;
case RIGHT_B_WHEEL: case RIGHT_B_WHEEL:
{ {
pin_in1 = RIGHT_L298N_IN3; pin_in1 = RIGHT_L298N_IN3;
pin_in2 = RIGHT_L298N_IN4; pin_in2 = RIGHT_L298N_IN4;
pin_ena = RIGHT_L298N_ENB; pin_enx = RIGHT_L298N_ENB;
} }
} }
@ -83,7 +83,7 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
return; //结束函数 return; //结束函数
} }
analogWrite(pin_ena, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速 analogWrite(pin_enx, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速
if (rotation == FORWARD_ROTATION) //向前转动 if (rotation == FORWARD_ROTATION) //向前转动
{ {