robofish/rm_balance
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fix 1

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Robofish 2026-03-15 18:37:38 +08:00
parent 9ee45df660
commit 2427e36bba
2 changed files with 3 additions and 6 deletions
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2
User/module/balance_chassis.c
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@ -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 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_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; 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.last_target_velocity_x = c->chassis_state.target_velocity_x;
c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt; c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
} else { } else {

7
User/module/config.c
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@ -395,14 +395,11 @@ Config_RobotParam_t robot_config = {
}, },
.rotor_ctrl = { .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) */ .max_trans_speed = 1.5f, /* 小陀螺时最大平移速度 (m/s) */
.spin_accel = 5.0f, .spin_accel = 5.0f,
/* 旋转加速度 (rad/s²) */ /* 旋转加速度 (rad/s²) */
.spin_decel = 8.0f, /* 退出减速度 (rad/s²)，比加速更快 */ .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° */ .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 = { .lqr_offset = {
.theta = 0.0f, .theta = 0.0f,
.x = 0.0f, .x = 0.0f,
.phi = 0.0f, .phi = 0.01f,
}, },
}, },