更新config

.vscode/c_cpp_properties.json

@@ -2,7 +2,15 @@
     "configurations": [
         {
             "name": "STM32",
-            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
+            "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json",
+            "macFrameworkPath": [
+                "/System/Library/Frameworks",
+                "/Library/Frameworks"
+            ],
+            "intelliSenseMode": "macos-clang-x64",
+            "cStandard": "c17",
+            "cppStandard": "c++14"
         }
-    ]
+    ],
+    "version": 4
 }

User/module/config.c

@@ -309,7 +309,7 @@ Config_RobotParam_t robot_config = {
         },
 
         .mech_zero_yaw = 1.78040409f, /* 机械零点 */
-        .joint_zero = {0.0f, 0.0f, 0.0f, 0.0f}, /* 关节电机零点偏移位置 */
+        .joint_zero = {0.0f, 0.0f, 3.84780002f, -1.16999996f}, /* 关节电机零点偏移位置 */
         .hip_width = 0.423f,  /* 髋宽，即两腿间距 (m)，用于Roll几何补偿 */
                 .vmc_param = {
             { // 左腿