TuxMonkey/bf_original_balance_chassis
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修复关节复位后无法恢复的bug

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kai
2024-04-03 20:26:25 +08:00
parent 994e726a7a
commit 9f97a793ce
4 changed files with 31 additions and 26 deletions
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3
application/chassis/lqr_calc.h
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@@ -25,9 +25,6 @@ static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
float l = p->leg_len;
float lsqr = l * l;
// float dist_limit = abs(chassis->target_dist - chassis->dist) > MAX_DIST_TRACK ? sign(chassis->target_dist - chassis->dist) * MAX_DIST_TRACK : (chassis->target_dist - chassis->dist); // todo设置值
// float vel_limit = abs(chassis->target_v - chassis->vel) > MAX_VEL_TRACK ? sign(chassis->target_v - chassis->vel) * MAX_VEL_TRACK : (chassis->target_v - chassis->vel);
for (uint8_t i = 0; i < 2; ++i)
{
uint8_t j = i * 6;