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DJI大疆C620电调的Arduino版本的控制器

C++ 96.27% Processing 1.23% C 2.49%

djirobomaster_c620_m3508_controller_arduino's Introduction

A Motor Controller For C620 On Arudino(2560)

Hardware:

  • Arduno mega 2560
  • MCP2515 can module
  • DJI RoboMaster C620 motor controller
  • DJI RoboMaster M3508 motor

Library using:

  • TimerOne 用来调用atmega内部的定时器,可以精确到us
  • MsTimer2 第二个定时器,精确到ms
  • Arduino-MCP2515 用来连接can通信板
  • FastPID 一个使用定点数来进行pid计算的库,速度稍微快那么一丢丢
  • Arduino-Kalman Kalman滤波的库,方便滤波

连线

MCP2515 Mega2560
SCK 52
MISO 50
MOSI 51
CS 53
INT -

Main:

/src/main.ino

整体框架:

flowchart

djirobomaster_c620_m3508_controller_arduino's People

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