TuxMonkey/bf_original_balance_chassis
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增加了遥控器控制,待测试

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This commit is contained in:
NeoZng
2022-12-07 21:56:34 +08:00
parent 3eba5b1c07
commit 2dd39f9815
6 changed files with 95 additions and 40 deletions
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2
application/robot_def.h
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@@ -85,7 +85,7 @@ typedef enum
typedef enum
{
GIMBAL_ZERO_FORCE, // 电流零输入
GIMBAL_FREE_MODE, // 云台自由运动模式,即与底盘分离(底盘此时应为NO_FOLLOW)反馈值为电机total_angle
GIMBAL_FREE_MODE, // 云台自由运动模式,即与底盘分离(底盘此时应为NO_FOLLOW)反馈值为电机total_angle;似乎可以改为全部用IMU数据?
GIMBAL_GYRO_MODE, // 云台陀螺仪反馈模式,反馈值为陀螺仪pitch,total_yaw_angle,底盘可以为小陀螺和跟随模式
} gimbal_mode_e;