TuxMonkey/bf_original_balance_chassis
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删除了message center的指针传递支持，增加了定位bug的技巧文档

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NeoZng
2023-03-06 18:52:24 +08:00
parent 48326bbd5c
commit bd2b992e9c
8 changed files with 126 additions and 111 deletions
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3
application/balance_chassis/gain_table.h
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@@ -2,13 +2,14 @@
#pragma once
#include "stdint.h"
#include "stm32f407xx.h"
#include "arm_math.h"
#include "math.h"
#define GAIN_TABLE_SIZE 100 // 增益表大小
// K 2x6,6个状态变量2个输出(Tp关节电机和T驱动轮电机)
static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {};
static float leglen2gain [GAIN_TABLE_SIZE][2][6] = {0};
static interpolation_flag = 0; // 插值方式:1 线性插值 0 关闭插值