TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

添加速度输入, 腿长pid待调整

Browse Source
This commit is contained in:
kai
2024-03-24 22:34:47 +08:00
parent 5b7c5cf88f
commit d5b5c254c4
2 changed files with 21 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
application/chassis/balance.h
View File

@@ -8,7 +8,7 @@
#define LIMIT_LINK_RAD 0.205467224 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0
#define MAX_ACC_REF 0.7f
#define MAX_ACC_REF 0.5f
#define MAX_DIST_TRACK 0.1f
#define MAX_VEL_TRACK 0.5f