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自动上台阶参数

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Robofish 2026-03-15 23:33:26 +08:00
parent b7851e5e21
commit ec50f074d5
1 changed files with 1 additions and 1 deletions
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User/module/config.c
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@ -451,7 +451,7 @@ Config_RobotParam_t robot_config = {
.climb = { .climb = {
.forward_speed = 1.5f, /* 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 = 0.9f, /* 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 = 0.08f, /* 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) */
}, },