robofish/rm_balance
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加关节

Browse Source
This commit is contained in:
Robofish 2025-10-05 13:54:26 +08:00
parent 000293a9b8
commit fa75912567
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
User/module/balance_chassis.c
View File

@ -33,11 +33,10 @@ static int8_t Chassis_MotorEnable(Chassis_t *c) {
static int8_t Chassis_MotorRelax(Chassis_t *c) {
if (c == 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++) {
// // MOTOR_LK_Relax(&c->param->wheel_motors[i]);
// }
// for (int i = 0; i < 4; i++) {
// MOTOR_LZ_Relax(&c->param->joint_motors[i]);
// MOTOR_LK_Relax(&c->param->wheel_motors[i]);
// }
return CHASSIS_OK;
}