TuxMonkey/bf_original_balance_chassis
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修正电机扭矩常数

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kai
2024-01-27 23:50:58 +08:00
parent c9bba0bea2
commit d8508f6a58
4 changed files with 10 additions and 8 deletions
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12
application/chassis/balance.c
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@@ -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);
}