TuxMonkey/bf_original_balance_chassis
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修改doc存放位置，增加代码静态检查，完成了README文档，修复了.assets图片分辨率低的问题

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This commit is contained in:
NeoZng
2023-07-25 16:12:38 +08:00
parent fa4a78a7a1
commit cdb1d209fc
22 changed files with 210 additions and 81 deletions
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2
application/chassis/chassis.c
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@@ -214,7 +214,7 @@ void ChassisTask()
chassis_cmd_recv.wz = 0;
break;
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = -1.5 * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
chassis_cmd_recv.wz = -1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 4000;