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Robofish 2025-10-05 13:54:26 +08:00
parent 000293a9b8
commit fa75912567
1 changed files with 3 additions and 4 deletions
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7
User/module/balance_chassis.c
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@ -33,11 +33,10 @@ static int8_t Chassis_MotorEnable(Chassis_t *c) {
static int8_t Chassis_MotorRelax(Chassis_t *c) { static int8_t Chassis_MotorRelax(Chassis_t *c) {
if (c == NULL) if (c == NULL)
return CHASSIS_ERR_NULL; return CHASSIS_ERR_NULL;
float relax_torque[4] = {0.0f, 0.0f, 0.0f, 0.0f};
Virtual_Chassis_SendJointTorque(&virtual_chassis, relax_torque);
// for (int i = 0; i < 2; i++) { // for (int i = 0; i < 2; i++) {
// // MOTOR_LK_Relax(&c->param->wheel_motors[i]); // MOTOR_LK_Relax(&c->param->wheel_motors[i]);
// }
// for (int i = 0; i < 4; i++) {
// MOTOR_LZ_Relax(&c->param->joint_motors[i]);
// } // }
return CHASSIS_OK; return CHASSIS_OK;
} }