From 987d7c9b6858d653793b94fc661b6410bc588c97 Mon Sep 17 00:00:00 2001
From: kai <1797003616@qq.com>
Date: Thu, 9 May 2024 21:25:41 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A4=8D=E4=BD=8D=E5=92=8C=E6=80=A5=E5=81=9C?=
 =?UTF-8?q?=E6=A8=A1=E5=BC=8F=E4=B8=8B=E7=9B=AE=E6=A0=87=E9=80=9F=E5=BA=A6?=
 =?UTF-8?q?=E7=BD=AE0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 application/chassis/balance.c | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index d8fbb2e..55218c7 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -113,7 +113,7 @@ void BalanceInit()
     // 腿长控制
     PID_Init_Config_s leg_length_pid_conf = {
         .Kp = 1200,
-        .Kd = 200,
+        .Kd = 300,
         .Ki = 0,
         .MaxOut = 60,
         .DeadBand = 0.0001f,
@@ -126,7 +126,7 @@ void BalanceInit()
     // roll轴补偿
     PID_Init_Config_s roll_compensate_pid_conf = {
         .Kp = 0.0008f,
-        .Kd = 0.0001f,
+        .Kd = 0.0002f,
         .Ki = 0.0f,
         .MaxOut = 0.05,
         .DeadBand = 0.001f,
@@ -162,7 +162,7 @@ void BalanceInit()
     // 抗劈叉
     PID_Init_Config_s anti_crash_pid_conf = {
         .Kp = 15,
-        .Kd = 1,
+        .Kd = 2,
         .Ki = 0.0,
         .MaxOut = 30,
         .DeadBand = 0.001f,
@@ -227,6 +227,8 @@ static void ResetChassis()
 {
     EnableAllMotor();   // 打开全部电机,关节复位到起始角度,驱动电机响应速度输入以从墙角或固连中脱身
 
+    // 目标速度置0
+    chassis.target_v = 0;
     // 复位时清空距离和腿长积累量,保证顺利站起
     chassis.dist = chassis.target_dist = 0;
     l_side.target_len = r_side.target_len = 0.12;
@@ -279,6 +281,8 @@ static void WokingStateSet()
     }
     else if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) // 未收到遥控器和云台指令底盘进入急停
     {
+        // 目标速度置0
+        chassis.target_v = 0;
         // 清空腿长和距离
         l_side.target_len = r_side.target_len = 0.12;
         chassis.dist = chassis.target_dist = 0;