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来生为你青来生为你青

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求助各位大佬：如何把这个扫描切除，做的比较顺滑，而不是现在

老哥，这个程序怎么让他跑起来啊 /** * @brief Torgue control A1 command * @param uint8_t Motor_ID * @param int32_t iqControl */ void CAN_TorgueControl(uint8_t Motor_ID, int32_t iqControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA1; TxData[1] = 0; TxData[2] = 0; TxData[3] = 0; TxData[4] = *(uint8_t *)(&iqControl); TxData[5] = *((uint8_t *)(&iqControl)+1); TxData[6] = 0; TxData[7] = 0; if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief speeed control A2 command * @param uint8_t Motor_ID * @param int32_t speedControl */ void speedControl(uint8_t Motor_ID, int32_t speedControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA2; TxData[1] = 0; TxData[2] = 0; TxData[3] = 0; TxData[4] = *(uint8_t *)(&speedControl); TxData[5] = *((uint8_t *)(&speedControl)+1); TxData[6] = *((uint8_t *)(&speedControl)+2); TxData[7] = *((uint8_t *)(&speedControl)+3); if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief Multi_angleControl_1 A3 command * @param uint8_t Motor_ID * @param int32_t angleControl */ void Multi_angleControl_1(uint8_t Motor_ID, int32_t angleControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA3; TxData[1] = 0; TxData[2] = 0; TxData[3] = 0; TxData[4] = *(uint8_t *)(&angleControl); TxData[5] = *((uint8_t *)(&angleControl)+1); TxData[6] = *((uint8_t *)(&angleControl)+2); TxData[7] = *((uint8_t *)(&angleControl)+3); if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief Multi_angleControl_1 A4 command * @param uint8_t Motor_ID * @param uint16_t maxSpeed * @param int32_t angleControl */ void Multi_angleControl_2(uint8_t Motor_ID, uint16_t maxSpeed, int32_t angleControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA4; TxData[1] = 0; TxData[2] = *(uint8_t *)(&maxSpeed); TxData[3] = *(uint8_t *)((&maxSpeed)+1); TxData[4] = *(uint8_t *)(&angleControl); TxData[5] = *((uint8_t *)(&angleControl)+1); TxData[6] = *((uint8_t *)(&angleControl)+2); TxData[7] = *((uint8_t *)(&angleControl)+3); //HAL_UART_Transmit(&huart1, TxData, 8, 10); if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief Single_loop_angleControl_1 A5 command * @param uint8_t Motor_ID * @param uint8_t spinDirection * @param int16_t angleControl */ void Single_loop_angleControl_1(uint8_t Motor_ID, uint8_t spinDirection, uint16_t angleControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA5; TxData[1] = spinDirection; TxData[2] = 0; TxData[3] = 0; TxData[4] = *(uint8_t *)(&angleControl); TxData[5] = *((uint8_t *)(&angleControl)+1); TxData[6] = 0; TxData[7] = 0; if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief Single_loop_angleControl_2 A6 command * @param uint8_t Motor_ID * @param uint8_t spinDirection * @param uint16_t maxSpeed * @param int16_t angleControl */ void Single_loop_angleControl_2(uint8_t Motor_ID, uint8_t spinDirection, uint16_t maxSpeed, uint16_t angleControl) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId = std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0xA6; TxData[1] = spinDirection; TxData[2] = *(uint8_t *)(&maxSpeed); TxData[3] = *((uint8_t *)(&maxSpeed)+1); TxData[4] = *(uint8_t *)(&angleControl); TxData[5] = *((uint8_t *)(&angleControl)+1); TxData[6] = 0; TxData[7] = 0; if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } } /** * @brief Motor_Off command * @param uint8_t Motor_ID */ void Motor_Off(uint8_t Motor_ID) { uint8_t TxData[8] = {0}; TxHeader.RTR = CAN_RTR_DATA; TxHeader.IDE = CAN_ID_STD; TxHeader.StdId= std_id + Motor_ID; TxHeader.TransmitGlobalTime = DISABLE; TxHeader.DLC = 8; TxData[0] = 0x81; TxData[1] = 0; TxData[2] = 0; TxData[3] = 0; TxData[4] = 0; TxData[4] = 0; TxData[5] = 0; TxData[6] = 0; TxData[7] = 0; if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) { /* Transmission request Error */ Error_Handler(); } }

各位大佬，曲柄这样连接可有问题？跪谢了

求助，求助。大佬帮忙看看怎么使图一这个平台转起来

有没有做建筑的甲方爸爸开单，开单，我要开单

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