TuxMonkey/bf_original_balance_chassis
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修改部分参数

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This commit is contained in:
kai
2024-03-25 18:02:13 +08:00
parent d5b5c254c4
commit 4542b0bfc3
3 changed files with 15 additions and 15 deletions
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4
application/chassis/balance.c
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@@ -139,7 +139,7 @@ static void ControlSwitch()
// 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
{
if (rc_data->rc.rocker_l1 < -600)
if (switch_is_up(rc_data->rc.switch_left))
{
chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
chassis_cmd_recv.vx = 0.05 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
@@ -272,7 +272,7 @@ static void ParamAssemble()
static void LegControl() /* 腿长控制和Roll补偿 */
{
static float gravity_comp = 54.54;
static float gravity_comp = 57.63;
l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp;
r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp;
}