TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-23 19:25:09 +08:00
Code Issues Packages Projects Releases Wiki Activity

轮电机ID极性 IMU正负修改

Browse Source
This commit is contained in:
TuxMonkey
2026-07-15 14:14:15 +08:00
parent 76f8c67a35
commit 709e66dcd4
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
application/chassis/balance.c
View File

@@ -28,10 +28,10 @@
#define STOOL_YAW_RATE_REF 3.5f
#define STOOL_ACC_REF 4.0f
#define STOOL_BRAKE_ACC_REF 8.0f
#define STOOL_PITCH_K 30.0f
#define STOOL_PITCH_W_K 8.5f
#define STOOL_VEL_K 4.5f
#define STOOL_STOP_DIST_K 2.0f
#define STOOL_PITCH_K 24.0f
#define STOOL_PITCH_W_K 6.8f
#define STOOL_VEL_K 3.2f
#define STOOL_STOP_DIST_K 1.2f
#define STOOL_VEL_LPF_RC 0.03f
#define STOOL_WHEEL_TORQUE_LIMIT 25.0f
#define STOOL_RC_DEADBAND 40