robofish/rm_balance
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: robofish:ec50f074d559ea0225ed95904d81ff11f7ce9cf3
Branches Tags
robofish:main
robofish:MC_02
robofish:ai
..
compare: robofish:c468fa59ce063eab38d85e5d3fa5877b92bcd24d
Branches Tags
robofish:MC_02
robofish:main
robofish:ai

No commits in common. "ec50f074d559ea0225ed95904d81ff11f7ce9cf3" and "c468fa59ce063eab38d85e5d3fa5877b92bcd24d" have entirely different histories.
ec50f074d5 ... c468fa59ce

1 changed files with 3 additions and 3 deletions
Show Stats Expand all files Collapse all files

6
User/module/config.c
View File

@ -449,9 +449,9 @@ Config_RobotParam_t robot_config = {
},
.climb = {
.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 */
.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 */
.settle_time_ms = 500, /* 收腿后稳定时间 (ms) */
},