TuxMonkey/bf_original_balance_chassis
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增加了平衡步兵的策略控制,修复了message_center的严重错误,务必同步此更新!

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NeoZng
2023-04-20 19:38:57 +08:00
parent f3d47258cd
commit a196a9cb59
5 changed files with 87 additions and 64 deletions
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12
application/balance_chassis/balance.h
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@@ -1,11 +1,11 @@
#pragma once
// 底盘参数
#define CALF_LEN 0.25f // 小腿
#define THIGH_LEN 0.15f // 大腿
#define JOINT_DISTANCE 0.108f // 关节间距
#define WHEEL_RADIUS 0.032f // 轮子半径
#define LIMIT_LINK_RAD 0.358 //
#define CALF_LEN 0.245f // 小腿
#define THIGH_LEN 0.14f // 大腿
#define JOINT_DISTANCE 0.108f // 关节间距
#define WHEEL_RADIUS 0.069f // 轮子半径
#define LIMIT_LINK_RAD 0.15149458 // 初始限位角度,见ParamAssemble
// 计算速度的方式(五连杆到单杆的映射)
#define VELOCITY_DIFF_VMC // 通过速度计算增量,然后通过差分计算腿长变化率和腿角速度
@@ -25,7 +25,7 @@ typedef struct
// pod
float theta, theta_w; // 杆和垂直方向的夹角,为控制状态之一
float pod_len;
float height,height_v;
float height, height_v;
float pod_v, pod_w;
float F_pod, T_pod;
} LinkNPodParam;