TuxMonkey/bf_original_balance_chassis
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修改与轮电机固连杆，使用机体速度计算LQR增益

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This commit is contained in:
kai
2024-04-28 16:14:10 +08:00
parent 41e13aee44
commit b7e4c80cb4
8 changed files with 58 additions and 46 deletions
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6
application/chassis/balance.h
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@@ -32,13 +32,13 @@
#define RB 3u
#define DRIVEN_CNT 2u
#define RD 0u
#define LD 1u
#define LD 0u
#define RD 1u
typedef struct
{
// joint
float phi1_w, phi4_w, phi2_w, phi5_w; // phi2_w used for calc real wheel speed
float phi1_w, phi4_w, phi2_w, phi3_w, phi5_w; // phi2_w or phi3_w used for calc real wheel speed
float T_back, T_front;
// link angle, phi1-ph5, phi5 is pod angle