TuxMonkey/half-steering-basic-framework
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小陀螺前瞻版

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guoxy06
2026-04-22 20:44:40 +08:00
parent 194047605d
commit 214971c58b
1 changed files with 1 additions and 1 deletions
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application/chassis/chassis.c
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@@ -477,7 +477,7 @@ void ChassisTask() {
last_chassis_mode = chassis_cmd_recv.chassis_mode; last_chassis_mode = chassis_cmd_recv.chassis_mode;
chassis_vx = (chassis_cmd_recv.vx * cos_theta + chassis_cmd_recv.vy * sin_theta)/4;//实验版 chassis_vx = (chassis_cmd_recv.vx * cos_theta + chassis_cmd_recv.vy * sin_theta)/4;//实验版
chassis_vy = (-chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta)/4;//实验版 chassis_vy = (-chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta)/4;//实验版/
// 根据控制模式进行正运动学解算,计算底盘输出 // 根据控制模式进行正运动学解算,计算底盘输出
SteeringWheelCalculate(); SteeringWheelCalculate();