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Robofish 2025-10-06 21:58:56 +08:00
parent 1b237f9944
commit 92a75811ae
2 changed files with 6 additions and 6 deletions
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10
User/module/balance_chassis.c
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@ -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.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.current_yaw = c->feedback.yaw.rotor_abs_angle;
c->yaw_control.target_yaw = c->param->mech_zero_yaw; // 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.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） */ /* 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[0] = Tw[0] / 4.5f;
c->output.wheel[1] = Tw[1] / 4.5f - c->yaw_control.yaw_force; c->output.wheel[1] = Tw[1] / 4.5f;
/* 腿长控制和VMC逆解算（使用PID控制） */ /* 腿长控制和VMC逆解算（使用PID控制） */
float virtual_force[2]; float virtual_force[2];
float target_L0[2]; float target_L0[2];

2
User/task/rc.c
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@ -21,7 +21,7 @@
DR16_t dr16; DR16_t dr16;
RC_CAN_t rc_can; RC_CAN_t rc_can;
Chassis_CMD_t cmd_to_chassis; Chassis_CMD_t cmd_to_chassis;
#define USE_RC_CAN #define USE_DR16
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */