From 2427e36bba566706d27cd4d975a111a32cfaa449 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 18:37:38 +0800
Subject: [PATCH] fix 1

---
 User/module/balance_chassis.c | 2 +-
 User/module/config.c          | 7 ++-----
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index f35a311..fe5873e 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -771,7 +771,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     float gimbal_offset = c->feedback.yaw.rotor_abs_angle - c->param->mech.mech_zero_yaw;
     float world_vx = c_cmd->move_vec.vx * c->param->rotor_ctrl.max_trans_speed;
     float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed;
-    c->chassis_state.target_velocity_x = world_vx * cosf(gimbal_offset) + world_vy * sinf(gimbal_offset);
+    c->chassis_state.target_velocity_x = world_vx * sinf(gimbal_offset) - world_vy * cosf(gimbal_offset);
     c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
     c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
   } else {
diff --git a/User/module/config.c b/User/module/config.c
index c8a9591..5377bf0 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -395,14 +395,11 @@ Config_RobotParam_t robot_config = {
         },
 
         .rotor_ctrl = {
-            .max_spin_speed = 5.0236f,    /* 最大旋转角速度 (rad/s)，0.5rpm */
+            .max_spin_speed = 6.0f,    /* 最大旋转角速度 (rad/s)，0.5rpm */
             .max_trans_speed = 1.5f,       /* 小陀螺时最大平移速度 (m/s) */
             .spin_accel = 5.0f,            
             
             
-           
-           
-           
             /* 旋转加速度 (rad/s²) */
             .spin_decel = 8.0f,            /* 退出减速度 (rad/s²)，比加速更快 */
             .align_threshold = 0.15f,      /* 退出对齐阈值 (rad)，约8.6° */
@@ -454,7 +451,7 @@ Config_RobotParam_t robot_config = {
     .lqr_offset = {
         .theta = 0.0f,
         .x = 0.0f,
-        .phi = 0.0f,
+        .phi = 0.01f,
     },
     
     },