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简化了电机测量的命名,完成初版平衡底盘的功能编写,待测试方向和符号的正确性

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This commit is contained in:
NeoZng
2023-04-14 22:26:33 +08:00
parent 9e364cbaaa
commit 1818edf117
14 changed files with 215 additions and 162 deletions
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6
modules/algorithm/user_lib.c
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@@ -165,7 +165,7 @@ int float_rounding(float raw)
}
// 三维向量归一化
float* Norm3d(float* v)
float *Norm3d(float *v)
{
float len = Sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
v[0] /= len;
@@ -181,7 +181,7 @@ float NormOf3d(float *v)
}
// 三维向量叉乘v1 x v2
void Cross3d(float* v1, float* v2,float* res)
void Cross3d(float *v1, float *v2, float *res)
{
res[0] = v1[1] * v2[2] - v1[2] * v2[1];
res[1] = v1[2] * v2[0] - v1[0] * v2[2];
@@ -189,7 +189,7 @@ void Cross3d(float* v1, float* v2,float* res)
}
// 三维向量点乘
float Dot3d(float* v1, float* v2)
float Dot3d(float *v1, float *v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}