增加五连杆解算和速度估计

2026-07-24 11:37:45 +08:00 · 2024-01-18 23:33:54 +08:00
parent 4b6a04067f
commit 7efa8b11bb
16 changed files with 186 additions and 0 deletions
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -15,6 +15,8 @@
 #include "arm_math.h" // 需要用到较多三角函数
 #include "bsp_dwt.h"
 #include "bsp_log.h"
+#include "linkNleg.h"
+#include "speed_estimation.h"


 static uint32_t balance_dwt_cnt;