TuxMonkey/bf_original_balance_chassis
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kai
2024-04-03 22:34:36 +08:00
parent 9f97a793ce
commit 41e13aee44
3 changed files with 16 additions and 14 deletions
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4
application/chassis/balance.c
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@@ -199,7 +199,7 @@ static void ControlSwitch()
chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后
chassis_cmd_recv.vx = 0.002 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
chassis_cmd_recv.delta_leglen = -0.000001f * (float)rc_data[TEMP].rc.dial;
chassis_cmd_recv.offset_angle -= 0.00001 * (float)rc_data[TEMP].rc.rocker_r_;
chassis_cmd_recv.offset_angle -= 0.000005 * (float)rc_data[TEMP].rc.rocker_r_;
}
}
else
@@ -359,7 +359,7 @@ static void LegControl() /* 腿长控制和Roll补偿 */
r_side.target_len -= roll_compensate_pid.Output;
static float gravity_comp = 57.63;
static float roll_extra_comp_p = 300;
static float roll_extra_comp_p = 400;
float roll_comp = roll_extra_comp_p * chassis.roll;
l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp - roll_comp;
r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp + roll_comp;