TuxMonkey/bf_original_balance_chassis
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LQR计算解耦

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kai
2024-01-27 19:38:00 +08:00
parent 72b50e8a65
commit c9bba0bea2
4 changed files with 197 additions and 2 deletions
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2
modules/motor/LKmotor/LK9025.h
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@@ -15,7 +15,7 @@
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.00512f // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
#define CURRENT_TORQUE_COEF_LK 0.003645f // // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
typedef struct // 9025
{