robofish/rm_balance
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

比较代码

Browse Source
This commit is contained in:
Robofish 2025-10-06 21:58:56 +08:00
parent 1b237f9944
commit 92a75811ae
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
User/module/balance_chassis.c
View File

@ -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];

2
User/task/rc.c
View File

@ -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 --------------------------------------------------------- */