自动上台阶参数

maybe
2026-03-15 23:33:26 +08:00 · 2026-03-15 23:30:49 +08:00
1 changed files with 3 additions and 3 deletions
--- a/User/module/config.c
+++ b/User/module/config.c
@ -449,9 +449,9 @@ Config_RobotParam_t robot_config = {
    },

    .climb = {
-        .forward_speed = 1.0f,         /* 上台阶前进速度 (m/s) */
-        .theta_retract_threshold = 0.52f, /* 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 */
+        .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° */
+        .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) */
    },
Author	SHA1	Message	Date
Robofish	ec50f074d5	自动上台阶参数	2026-03-15 23:33:26 +08:00
Robofish	b7851e5e21	maybe	2026-03-15 23:30:49 +08:00