TuxMonkey/bf_original_balance_chassis
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添加参数组装

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kai
2024-03-23 21:02:42 +08:00
parent be23c6c88c
commit 19bdac0863
2 changed files with 69 additions and 7 deletions
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8
application/chassis/balance.h
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@@ -12,9 +12,9 @@
#define MAX_DIST_TRACK 0.1f
#define MAX_VEL_TRACK 0.5f
#define CENTER_IMU_R 0.09435f // IMU距离中心的距离
#define CENTER_IMU_R 0.09f // IMU距离中心的距离
#define CENTER_IMU_W 0
#define CENTER_IMU_L 0.09435f
#define CENTER_IMU_L 0.09f
#define CENTER_IMU_H 0
#define VEL_PROCESS_NOISE 25 // 速度过程噪声
@@ -32,8 +32,8 @@
#define RB 3u
#define DRIVEN_CNT 2u
#define LD 0u
#define RD 1u
#define RD 0u
#define LD 1u
typedef struct
{