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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4
application/chassis/lqr_calc.h
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@@ -9,8 +9,8 @@
*/
static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
{
static float k[12][3] = {};
float T[2] = {0}; // 0 T_wheel 1 T_hip
float k[12][3] = {0};
float T[2] = {0}; // 0 T_wheel 1 T_hip
float l = p->leg_len;
float lsqr = l * l;