From c6d2acbeb78f922cd1d8d3092ac853c4efc874e4 Mon Sep 17 00:00:00 2001 From: zwsd Date: Mon, 25 Jul 2022 16:29:22 +0800 Subject: [PATCH] =?UTF-8?q?=E8=AF=BB=E5=8F=96=E7=BC=96=E7=A0=81=E5=99=A8?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3=E4=BB=8E=E7=94=9F=E6=88=90=E5=91=BD=E4=BB=A4?= =?UTF-8?q?=EF=BC=8C=E7=BC=96=E7=A8=8B=E9=9D=99=E6=80=81=E5=9B=BA=E5=AE=9A?= =?UTF-8?q?=E5=91=BD=E4=BB=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- main/motor_drive.c | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/main/motor_drive.c b/main/motor_drive.c index fe1bc67..3f90d38 100644 --- a/main/motor_drive.c +++ b/main/motor_drive.c @@ -41,23 +41,23 @@ void motor_drive_turn(int direction, int speed_level, double position) { } double motor_drive_read_encoder() { - size_t encoder_buffer_size = 0; - uint8_t buffer[20] = {0}; + size_t encoder_buffer_size = 5; + uint8_t buffer[5] = {0X3E,0X90,0X01,0X00,0XCF}; uint16_t encoder_data = 0; // Generate cmd - encoder_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00); - if (encoder_buffer_size == 0) { - ESP_LOGW(MOTOR_DRIVE, "generate_buffer_size null"); - return -1; - } + // encoder_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00); + // if (encoder_buffer_size == 0) { + // ESP_LOGW(MOTOR_DRIVE, "generate_buffer_size null"); + // return -1; + // } uart_flush(uart_num); // Send cmd uart_write_bytes(uart_num, (const char *)buffer, encoder_buffer_size); encoder_buffer_size = 0; - memset(buffer, 0, sizeof(uint8_t) * 20); + memset(buffer, 0, sizeof(uint8_t) * 5); // Wait receive encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, 2000 / portTICK_RATE_MS);