robofish/rm_balance
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Robofish 2026-03-15 23:30:49 +08:00
parent c468fa59ce
commit b7851e5e21
1 changed files with 2 additions and 2 deletions
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4
User/module/config.c
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@ -449,8 +449,8 @@ Config_RobotParam_t robot_config = {
}, },
.climb = { .climb = {
.forward_speed = 1.0f, /* 上台阶前进速度 (m/s) */ .forward_speed = 1.5f, /* 上台阶前进速度 (m/s) */
.theta_retract_threshold = 0.52f, /* 腿后摆收腿阈值 (rad)，约30° */ .theta_retract_threshold = 0.9f, /* 腿后摆收腿阈值 (rad)，约30° */
.tp_scale = 0.1f, /* 摆力矩缩放：削弱到10%，让腿自由后摆 */ .tp_scale = 0.1f, /* 摆力矩缩放：削弱到10%，让腿自由后摆 */
.settle_time_ms = 500, /* 收腿后稳定时间 (ms) */ .settle_time_ms = 500, /* 收腿后稳定时间 (ms) */
}, },