TuxMonkey/bf_original_balance_chassis
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mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 19:47:44 +08:00
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增加了文档,修改通信协议,更新了平衡底盘的VMC映射和五连杆解算,修复了双板通信数据结构步对齐的错误

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This commit is contained in:
NeoZng
2023-04-14 18:17:46 +08:00
parent 681dce3c90
commit 9e364cbaaa
14 changed files with 225 additions and 97 deletions
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7
application/gimbal/gimbal.c
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@@ -136,7 +136,7 @@ void GimbalInit()
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
int aaaaaaa;
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
@@ -178,10 +178,7 @@ void GimbalTask()
default:
break;
}
// if(yaw_motor->motor_measure.total_angle>120)
// {
// aaaaaaa++;
// }
// 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ...