TuxMonkey/bf_original_balance_chassis
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修复PID堵转检测错误，修复LK电机位置环计算错误，更新文档，修改了消息中心的命名（不影响app层）

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This commit is contained in:
NeoZng
2023-05-14 14:56:00 +08:00
parent 299073321b
commit ecb56ef935
12 changed files with 63 additions and 641 deletions
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2
modules/algorithm/controller.c
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@@ -97,7 +97,7 @@ static void f_Output_Limit(PIDInstance *pid)
static void f_PID_ErrorHandle(PIDInstance *pid)
{
/*Motor Blocked Handle*/
if (pid->Output < pid->MaxOut * 0.001f || fabsf(pid->Ref) < 0.0001f)
if (fabsf(pid->Output) < pid->MaxOut * 0.001f || fabsf(pid->Ref) < 0.0001f)
return;
if ((fabsf(pid->Ref - pid->Measure) / fabsf(pid->Ref)) > 0.95f)