git clone https://github.com/FredDeng2016/FredFoc.git git submodule init git submodule update

git branch

git submodule add https://github.com/RT-Thread/rt-thread.git RT-Thread

git status

git add -u git commit -m "add RT Thread submodule"

git push

git pull

#system command list

LOCK_MODE = 0, YAW_FOLLOW_MODE, YAW_AND_ROLL_FOLLOW_MODE, INVERSION_LOCK_MODE, INVERSION_YAW_FOLLOW_MODE, INVERSION_YAW_AND_ROLL_FOLLOW_MODE, MODE_NUMS,

% #E,8916,8917,8918,8919,8920,8921$ #E,8916,8917,8918,8919,8920,8921@ #E,0,8917,0,0,0,0@ #E,1000,0,0,0,0,0@ #E,4000,0,0,0,0,0@ #E,4000,0,0,100,0,0@ #E,15000,0,0,10,0,0@ #E,200,0,0,2500,0,0@

#save,system,configs@ #console,a@ #console,b@ #console,c@ #console,null@ #console,all@

#imu,open@ #imu,close@ #imu,gyro,calib@ #imu,acc,calib@ #imu,acc,calib,0,0,0,1,0,0,0,1,0,0,0,1@

#imu,get,state@ #imu,get,gyro,bias@ #imu,get,acc,bias@ #imu,get,acc,martixA@

#motor,run@ #motor,align@ #motor,calilevel@ #motor,stop@
#motor,test,speed@ #motor,test,iqcurrent@
#motor,test,idcurrent@
#motor,test,close@

//串口打印调试数据

#test,close@ #test,tle5012@ #test,mpu6500@ #test,motor@

#get,align@ #get,calilevel@

#get,pid,pk@ #get,pid,pi@ #get,pid,pd@

#get,pid,sk@ #get,pid,si@ #get,pid,sd@

#get,pid,tk@ #get,pid,ti@ #get,pid,td@

#get,pid,fk@ #get,pid,fi@ #get,pid,fd@

//pid参数调试 #pid,tk,2470,4096@ #pid,ti,3238,8192@ #pid,td,100,8192@

#pid,fk,2470,4096@ #pid,fi,3238,8192@ #pid,fd,100,8192@

#pid,sk,8000,64@
#pid,si,800,1024@ #pid,sd,0,16@

#pid,pk,52,512@ #pid,pi,0,16384@ #pid,pd,0,512@

//测试 #console,null@ #console,a@ #test,motor@ #motor,align@ #motor,calilevel@ #save,system,configs@

//FLUX测试 #imu,close@ #console,a@ #test,motor@ #motor,test,idcurrent@ #E,200,0,0,2000,0,0@ #E,0,200,0,0,2000,0@ #E,0,0,200,0,0,2000@ #motor,run@ #motor,stop@

#pid,fi,1100,8192@ #pid,fk,700,4096@

//力矩测试 #imu,close@ #console,a@ #test,motor@ #motor,test,iqcurrent@ #E,200,0,0,2000,0,0@ #E,0,200,0,0,2000,0@ #E,0,0,200,0,0,6000@ #motor,run@ #motor,stop@

#pid,ti,1100,8192@ #pid,tk,700,4096@

//速度测试 #imu,open@ #console,a@ #test,motor@
#motor,test,speed@
#E,5000,0,0,50,0,0@
#E,0,5000,0,0,50,0@ #E,0,0,5000,0,0,50@ #E,20000,0,0,1000,0,0@
#E,20000,0,0,90,0,0@
#E,5000,0,5000,50,0,100@
#motor,run@
#motor,stop@

#pid,sk,4800,64@ #pid,si,1000,1024@

//位置测试 #imu,close@ #console,a@ #test,motor@ #motor,test,close@ #E,5000,0,0,50,0,0@
#E,0,5000,0,0,50,0@ #E,0,0,5000,0,0,50@ #motor,run@
#motor,stop@

#pid,pk,52,512@ #pid,pi,0,16384@ #pid,pd,0,512@

//关
#motor,stop@
%