增加了电机前馈控制,更新readme，加快ins速度，删除了工程和平衡底盘相关的app

2026-07-24 03:27:45 +08:00 · 2023-05-19 14:45:48 +08:00
parent ecb56ef935
commit a18a5091f4
27 changed files with 97 additions and 97 deletions
--- a/modules/algorithm/controller.c
+++ b/modules/algorithm/controller.c
@@ -134,6 +134,7 @@ void PIDInit(PIDInstance *pid, PID_Init_Config_s *config)
    // utilize the quality of struct that its memeory is continuous
    memcpy(pid, config, sizeof(PID_Init_Config_s));
    // set rest of memory to 0
+    DWT_GetDeltaT(&pid->DWT_CNT);
 }

 /**