复位和急停模式下目标速度置0

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;