TuxMonkey/bf_original_balance_chassis
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chenfu
2024-05-23 13:41:20 +08:00
parent b42e603e0e
commit 845942b3d0
4 changed files with 45 additions and 31 deletions
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15
application/chassis/balance.c
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@@ -394,9 +394,16 @@ static void ParamAssemble()
static void SynthesizeMotion() /* 腿部控制:抗劈叉; 轮子控制:转向 */
{
float p_ref = PIDCalculate(&steer_p_pid, chassis.yaw, chassis.target_yaw);
PIDCalculate(&steer_v_pid, chassis.wz, p_ref);
if(chassis_cmd_recv.chassis_mode == CHASSIS_FREE_DEBUG ||
chassis_cmd_recv.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
{
float p_ref = PIDCalculate(&steer_p_pid, chassis.yaw, chassis.target_yaw);
PIDCalculate(&steer_v_pid, chassis.wz, p_ref);
}
else if (chassis_cmd_recv.chassis_mode == CHASSIS_ROTATE)
{
PIDCalculate(&steer_v_pid, chassis.wz, 6);
}
l_side.T_wheel -= steer_v_pid.Output;
r_side.T_wheel += steer_v_pid.Output;
@@ -467,6 +474,6 @@ void BalanceTask()
return; // 复位模态或急停,直接退出
// 运动模态,电机输出映射和限幅
// WattLimitSet();
WattLimitSet();
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
}