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feat: 修正左右电机物理方向差异

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wangbeihong
2026-04-14 19:32:06 +08:00
parent fb9e67a955
commit a2328edbd7
1 changed files with 5 additions and 0 deletions
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5
Core/Bsp/bsp_motor.c
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@@ -71,6 +71,11 @@ void motor_set_speed(motor_id_t motor_id, int16_t speed)
default: return; default: return;
} }
/* 纠正左右电机物理方向差异 */
if (motor_id == MOTOR_3 || motor_id == MOTOR_4) {
speed = -speed;
}
/* 限制速度范围 (ARR=3599) */ /* 限制速度范围 (ARR=3599) */
if (speed > 3599) speed = 3599; if (speed > 3599) speed = 3599;
if (speed < -3599) speed = -3599; if (speed < -3599) speed = -3599;