From d8508f6a58fbc0a68b532c7e06d322e8e0ef49ea Mon Sep 17 00:00:00 2001
From: kai <1797003616@qq.com>
Date: Sat, 27 Jan 2024 23:50:58 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E7=94=B5=E6=9C=BA=E6=89=AD?=
 =?UTF-8?q?=E7=9F=A9=E5=B8=B8=E6=95=B0?=
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---
 .vscode/settings.json          |  3 ++-
 application/chassis/balance.c  | 12 ++++++------
 modules/motor/HTmotor/HT04.h   |  1 +
 modules/motor/LKmotor/LK9025.h |  2 +-
 4 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index cc63151..e21f474 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -4,5 +4,6 @@
         "general_def.h": "c",
         "stdlib.h": "c",
         "bsp_can.h": "c"
-    }
+    },
+    "C_Cpp.errorSquiggles": "disabled"
 }
\ No newline at end of file
diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index dadc42a..9e0f13a 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -385,12 +385,12 @@ static void LegControl()
 /* 设定运动模态的输出 */
 static void WattLimitSet() 
 {
-    HTMotorSetRef(lf, 0.285f * -l_side.T_front); // 根据扭矩常数计算得到的系数
-    HTMotorSetRef(lb, 0.285f * -l_side.T_back);
-    HTMotorSetRef(rf, 0.285f * r_side.T_front);
-    HTMotorSetRef(rb, 0.285f * r_side.T_back);
-    LKMotorSetRef(l_driven, 274.348 * l_side.T_wheel);
-    LKMotorSetRef(r_driven, 274.348 * -r_side.T_wheel);
+    HTMotorSetRef(lf, 0.2857 * -l_side.T_front); // 根据扭矩常数计算得到的系数
+    HTMotorSetRef(lb, 0.2857 * -l_side.T_back);
+    HTMotorSetRef(rf, 0.2857 * r_side.T_front);
+    HTMotorSetRef(rb, 0.2857 * r_side.T_back);
+    LKMotorSetRef(l_driven, 195.3125 * l_side.T_wheel);
+    LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
 }
 
 
diff --git a/modules/motor/HTmotor/HT04.h b/modules/motor/HTmotor/HT04.h
index 1ad61f5..9a741c7 100644
--- a/modules/motor/HTmotor/HT04.h
+++ b/modules/motor/HTmotor/HT04.h
@@ -11,6 +11,7 @@
 #define CURRENT_SMOOTH_COEF 0.9f
 #define SPEED_BUFFER_SIZE 5
 #define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s
+#define TORQUE_CONST_HT 3.5  // 扭矩常数,单位N.m/A
 
 #define P_MIN -95.5f // Radians
 #define P_MAX 95.5f
diff --git a/modules/motor/LKmotor/LK9025.h b/modules/motor/LKmotor/LK9025.h
index a880dd6..d3bca81 100644
--- a/modules/motor/LKmotor/LK9025.h
+++ b/modules/motor/LKmotor/LK9025.h
@@ -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 0.003645f // // 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
+#define CURRENT_TORQUE_COEF_LK 0.00512f  // 电流设定值转换成扭矩的系数
 
 typedef struct // 9025
 {