TuxMonkey/bf_original_balance_chassis
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轮电机ID极性 IMU正负修改

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TuxMonkey
2026-07-15 14:06:27 +08:00
parent b3da53745d
commit 76f8c67a35
2 changed files with 7 additions and 7 deletions
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12
application/chassis/balance.c
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@@ -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 36.0f
#define STOOL_PITCH_W_K 10.0f
#define STOOL_VEL_K 6.0f
#define STOOL_STOP_DIST_K 3.0f
#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_VEL_LPF_RC 0.03f
#define STOOL_WHEEL_TORQUE_LIMIT 25.0f
#define STOOL_RC_DEADBAND 40
@@ -236,9 +236,9 @@ void BalanceInit()
};
driven_conf.can_init_config.tx_id = 1;
driven[RD] = r_driven = LKMotorInit(&driven_conf);
driven_conf.can_init_config.tx_id = 2;
driven[LD] = l_driven = LKMotorInit(&driven_conf);
driven_conf.can_init_config.tx_id = 2;
driven[RD] = r_driven = LKMotorInit(&driven_conf);
// 腿长控制
PID_Init_Config_s leg_length_pid_conf = {