From 24160f21dce0ad6f4feb017fbcdfa4bbac39a098 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 5 Oct 2025 17:39:38 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9rc=EF=BC=8C=E6=94=B9pid?=
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---
 User/module/balance_chassis.c | 10 +++++-----
 User/module/config.c          |  2 +-
 User/task/rc.c                |  4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index d03439d..c661ecb 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -263,10 +263,10 @@ void Chassis_Output(Chassis_t *c) {
   // }
   float out[4] = {
       c->output.joint[0], c->output.joint[1], c->output.joint[2], c->output.joint[3]};
-      out[0] = -1.0f;
-      out[1] = 1.0f;
-      out[2] = 1.0f;
-      out[3] = -1.0f;
+      // out[0] = -1.0f;
+      // out[1] = 1.0f;
+      // out[2] = 1.0f;
+      // out[3] = -1.0f;
   Virtual_Chassis_SendJointTorque(&virtual_chassis, out);
   Virtual_Chassis_SendWheelCommand(&virtual_chassis, c->output.wheel[0], c->output.wheel[1]);
   // for (int i = 0; i < 2; i++) {
@@ -382,7 +382,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
                                 c->vmc_[0].leg.L0, leg_d_length[0], c->dt);
 
     // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力 - 横滚角补偿力（左腿减少支撑力）
-    virtual_force[0] = (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) + pid_output + 50.0f - roll_compensation_force;
+    virtual_force[0] = (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) + pid_output + 10.0f ;
 
     // VMC逆解算（包含摆角补偿）
     if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
diff --git a/User/module/config.c b/User/module/config.c
index 659e802..2096bd6 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -49,7 +49,7 @@ Config_RobotParam_t robot_config = {
         },
 
         .leg_length={
-            .k = 40.0f,
+            .k = 10.0f,
             .p = 5.0f,
             .i = 0.0f,
             .d = 1.0f,
diff --git a/User/task/rc.c b/User/task/rc.c
index 3c90335..d9d6ee8 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -63,8 +63,8 @@ void Task_rc(void *argument) {
         cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
         break;
     }
-    cmd_for_chassis.move_vec.vx = dr16.data.ch_l_x;
-    cmd_for_chassis.move_vec.vy = dr16.data.ch_l_y;
+    cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
+    cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
     cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
     cmd_for_chassis.height = dr16.data.res;