TuxMonkey/bf_original_balance_chassis
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添加速度估计，未进行速度融合

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kai
2024-03-24 11:45:53 +08:00
parent 60ed50d438
commit 729df0f988
3 changed files with 32 additions and 1 deletions
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application/chassis/balance.h
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@@ -4,7 +4,7 @@
#define CALF_LEN 0.24f // 小腿
#define THIGH_LEN 0.14f // 大腿
#define JOINT_DISTANCE 0.11f // 关节间距
#define WHEEL_RADIUS 0.06925f // 轮子半径
#define WHEEL_RADIUS 0.075f // 轮子半径
#define LIMIT_LINK_RAD 0.205467224 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0