TuxMonkey/bf_original_balance_chassis
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添加速度位置闭环分离和电机离线保护

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kai
2024-05-19 21:20:48 +08:00
parent 51c92b423a
commit 66e23202a7
4 changed files with 49 additions and 23 deletions
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8
application/chassis/balance.h
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@@ -11,16 +11,14 @@
#define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0
#define MAX_ACC_REF 0.9f
#define MAX_DIST_TRACK 1.0f
#define MAX_VEL_TRACK 0.5f
// 驱动轮质量
#define WHEEL_MASS 0.58f
// IMU距离中心的距离
#define CENTER_IMU_W 0
#define CENTER_IMU_L 0.1f
#define CENTER_IMU_H -0.055f
#define CENTER_IMU_W -0.024f
#define CENTER_IMU_L 0.09f
#define CENTER_IMU_H -0.1f
#define VEL_PROCESS_NOISE 10 // 速度过程噪声
#define VEL_MEASURE_NOISE 2000 // 速度测量噪声