From 89092f771bafe6761c49767a7df6432c94f55911 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 5 Oct 2025 19:10:49 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E8=BD=AE=E5=AD=90=E6=96=B9=E5=90=91?=
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---
 User/module/balance_chassis.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index c661ecb..4ac57b2 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -73,9 +73,9 @@ static void Chassis_UpdateChassisState(Chassis_t *c) {
     return;
 
   // 从轮子编码器估计机体速度 (参考C++代码)
-  float left_wheel_speed_dps = c->feedback.wheel[0].rotor_speed; // dps (度每秒)
+  float left_wheel_speed_dps = -c->feedback.wheel[0].rotor_speed; // dps (度每秒)
   float right_wheel_speed_dps =
-      c->feedback.wheel[1].rotor_speed; // dps (度每秒)
+      -c->feedback.wheel[1].rotor_speed; // dps (度每秒)
 
   // 将dps转换为rad/s
   float left_wheel_speed = left_wheel_speed_dps * M_PI / 180.0f;   // rad/s
@@ -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] = 0.0f;
+      // out[1] = 0.0f;
+      // out[2] = 0.0f;
+      // out[3] = 0.0f;
   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++) {