From 92a75811ae5b02395f533dcb7edc78d780bcf533 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 6 Oct 2025 21:58:56 +0800
Subject: [PATCH] =?UTF-8?q?=E6=AF=94=E8=BE=83=E4=BB=A3=E7=A0=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 User/module/balance_chassis.c | 10 +++++-----
 User/task/rc.c                |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index e38bad6..ae7ff50 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -457,13 +457,13 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     // }
 
     // c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.imu.euler.yaw, c->feedback.imu.gyro.z, c->dt);
-    c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
-    c->yaw_control.target_yaw = c->param->mech_zero_yaw;
-    c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
+    // c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
+    // c->yaw_control.target_yaw = c->param->mech_zero_yaw;
+    // c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
     
     /* 轮毂力矩输出（参考C++版本的减速比） */
-    c->output.wheel[0] = Tw[0] / 4.5f + c->yaw_control.yaw_force;
-    c->output.wheel[1] = Tw[1] / 4.5f - c->yaw_control.yaw_force;
+    c->output.wheel[0] = Tw[0] / 4.5f;
+    c->output.wheel[1] = Tw[1] / 4.5f;
     /* 腿长控制和VMC逆解算（使用PID控制） */
     float virtual_force[2];
     float target_L0[2];
diff --git a/User/task/rc.c b/User/task/rc.c
index 53430a6..36843e8 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -21,7 +21,7 @@
 DR16_t dr16;
 RC_CAN_t rc_can;
 Chassis_CMD_t cmd_to_chassis;
-#define USE_RC_CAN
+#define USE_DR16
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */