TuxMonkey/bf_original_balance_chassis
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修改平衡参数

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kai
2024-03-23 16:10:20 +08:00
parent 59dc4c7ed8
commit be23c6c88c
4 changed files with 120 additions and 16 deletions
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22
application/chassis/balance.h
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@@ -1,23 +1,21 @@
#pragma once
// 底盘参数
#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 0.078f // 轮子半径
#define LIMIT_LINK_RAD 0.15149458 // 初始限位角度,见ParamAssemble
#define WHEEL_DISTANCE 0.48f // 轮子间距
#define CALF_LEN 0.24f // 小腿
#define THIGH_LEN 0.14f // 大腿
#define JOINT_DISTANCE 0.11f // 关节间距
#define WHEEL_RADIUS 0.06925f // 轮子半径
#define LIMIT_LINK_RAD 0.205467224 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0.03f
#define ROLL_GRAVITY_BIAS 0
#define MAX_ACC_REF 0.7f
#define MAX_DIST_TRACK 0.1f
#define MAX_VEL_TRACK 0.5f
#define CENTER_IMU_R 0.13f // IMU距离中心的距离
#define CENTER_IMU_W 0.11f
#define CENTER_IMU_L 0.074f
#define CENTER_IMU_H 0.060f
#define CENTER_IMU_THETA 0.9768f
#define CENTER_IMU_R 0.09435f // IMU距离中心的距离
#define CENTER_IMU_W 0
#define CENTER_IMU_L 0.09435f
#define CENTER_IMU_H 0
#define VEL_PROCESS_NOISE 25 // 速度过程噪声
#define VEL_MEASURE_NOISE 800 // 速度测量噪声