TuxMonkey/bf_original_balance_chassis
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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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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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10
modules/general_def.h
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@@ -3,15 +3,15 @@
// 一些module的通用数值型定义,注意条件macro兼容,一些宏可能在math.h中已经定义过了
#ifndef PI
#define PI 3.1415926535f
#endif // !PI
#endif
#define PI2 (PI * 2.0f) // 2 pi
#define RAD_2_ANGLE 57.2957795f // 180/pi
#define ANGLE_2_RAD 0.01745329252f // pi/180
#define RAD_2_DEGREE 57.2957795f // 180/pi
#define DEGREE_2_RAD 0.01745329252f // pi/180
#define RPM_2_ANGLE_PER_SEC 6.0f // ×360°/60sec
#define RPM_2_ANGLE_PER_SEC 6.0f // ×360°/60sec
#define RPM_2_RAD_PER_SEC 0.104719755f // ×2pi/60sec
#endif // !GENERAL_DEF_H