TuxMonkey/bf_original_balance_chassis
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kai
2024-03-23 11:06:37 +08:00
parent 9961e1acfb
commit 59dc4c7ed8
9 changed files with 19 additions and 517 deletions
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application/chassis/linkNleg.h
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@@ -74,6 +74,6 @@ void Link2Leg(LinkNPodParam *p, ChassisParam *chassis)
p->phi2_w = (phi2_pred - p->phi2) / predict_dt; // 稍后用于修正轮速
p->phi5_w = (phi5_pred - p->phi5) / predict_dt;
p->legd = (Sqrt(powf(xC - JOINT_DISTANCE / 2, 2) + powf(yC, 2)) - p->leg_len) / predict_dt;
p->theta_w = ((phi5_pred - 0.5 * PI - (chassis->pitch + chassis->pitch_w) - p->theta) / predict_dt); // 可以不考虑机体? -predict_dt*chassis.pitch_w
p->theta_w = ((phi5_pred - 0.5 * PI - (chassis->pitch + chassis->pitch_w * predict_dt) - p->theta) / predict_dt); // 可以不考虑机体? -predict_dt*chassis.pitch_w
p->height_v = p->legd * mcos(p->theta) - p->leg_len * msin(p->theta) * p->theta_w;
}