robofish/rm_balance
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继续修

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Robofish 2026-03-15 21:29:41 +08:00
parent 0a442e8976
commit 4773c252f2
1 changed files with 3 additions and 2 deletions
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5
User/module/balance_chassis.c
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@ -491,14 +491,15 @@ static void Chassis_ClimbControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float theta_abs = fabsf(avg_theta); float theta_abs = fabsf(avg_theta);
float contact_angle = c->param->climb.theta_retract_threshold * 0.5f; float contact_angle = c->param->climb.theta_retract_threshold * 0.5f;
float tp_min = c->param->climb.tp_scale; float tp_min = c->param->climb.tp_scale;
float tp_initial = 0.8f; /* 初始Tp缩放，刚进入就削弱20% */
float dynamic_scale; float dynamic_scale;
if (theta_abs < contact_angle) { if (theta_abs < contact_angle) {
dynamic_scale = 1.0f; /* 未撞到，保持正常Tp */ dynamic_scale = tp_initial; /* 未撞到，从80%开始 */
} else { } else {
float t = (theta_abs - contact_angle) / float t = (theta_abs - contact_angle) /
(c->param->climb.theta_retract_threshold - contact_angle); (c->param->climb.theta_retract_threshold - contact_angle);
t = LIMIT(t, 0.0f, 1.0f); t = LIMIT(t, 0.0f, 1.0f);
dynamic_scale = 1.0f + (tp_min - 1.0f) * sqrtf(t); /* sqrt: 撞到后快速衰减 */ dynamic_scale = tp_initial + (tp_min - tp_initial) * sqrtf(t); /* sqrt: 撞到后快速衰减 */
} }
c->lqr[0].control_output.Tp *= dynamic_scale; c->lqr[0].control_output.Tp *= dynamic_scale;
c->lqr[1].control_output.Tp *= dynamic_scale; c->lqr[1].control_output.Tp *= dynamic_scale;