From 6b59d5922d58ca18db8885c60b5256e4b7b8f0d0 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 18:52:18 +0800
Subject: [PATCH] =?UTF-8?q?+=E6=AD=A3=E5=BC=A6?=
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---
 User/module/balance_chassis.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 5c45b69..758e3c5 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -820,8 +820,9 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 
   /* ==================== Yaw轴控制 ==================== */
   if (c_cmd->mode == CHASSIS_MODE_BALANCE_ROTOR || c->mode == CHASSIS_MODE_BALANCE_ROTOR) {
-    /* 小陀螺模式：自动以max_spin_speed恒速旋转 */
-    float target_spin = c->param->rotor_ctrl.max_spin_speed;
+    /* 小陀螺模式：旋转速度在5~8 rad/s之间以0.5Hz正弦变化 */
+    float t = (float)BSP_TIME_Get_us() / 1000000.0f;  /* 秒 */
+    float target_spin = 6.5f + 1.5f * sinf(2.0f * M_PI * 0.5f * t);
 
     if (c->rotor_state.exiting) {
       /* 退出过渡：目标角速度为0，用减速斜坡 */