TuxMonkey/bf_original_balance_chassis
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修改部分参数

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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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2
application/chassis/balance.h
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@@ -5,7 +5,7 @@
#define THIGH_LEN 0.14f // 大腿
#define JOINT_DISTANCE 0.11f // 关节间距
#define WHEEL_RADIUS 0.075f // 轮子半径
#define LIMIT_LINK_RAD 0.205467224 // 初始限位角度,见ParamAssemble
#define LIMIT_LINK_RAD 0.220039368 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0
#define MAX_ACC_REF 0.5f