TuxMonkey/bf_original_balance_chassis
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增加了平衡步兵的策略控制,修复了message_center的严重错误,务必同步此更新!

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NeoZng
2023-04-20 17:54:12 +08:00
parent f3d47258cd
commit 4658a0b5ea
5 changed files with 77 additions and 52 deletions
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application/balance_chassis/balance.h
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@@ -5,7 +5,7 @@
#define THIGH_LEN 0.15f // 大腿
#define JOINT_DISTANCE 0.108f // 关节间距
#define WHEEL_RADIUS 0.032f // 轮子半径
#define LIMIT_LINK_RAD 0.358 //
#define LIMIT_LINK_RAD 0.15149458 // 初始限位角度,见ParamAssemble
// 计算速度的方式(五连杆到单杆的映射)
#define VELOCITY_DIFF_VMC // 通过速度计算增量,然后通过差分计算腿长变化率和腿角速度