From 26f210da124cee42bc01295f31fea504cee3e56d Mon Sep 17 00:00:00 2001
From: Zorua <3540226929@qq.com>
Date: Sat, 17 Jan 2026 17:43:42 +0800
Subject: [PATCH] new brench

---
 application/chassis/chassis.c | 5 ++---
 application/cmd/robot_cmd.c   | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index a4a260a..ccef766 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -240,7 +240,7 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
     if(current_single<0.0f) current_single+=360.0f;
 
 
-    if (fabsf(norm_rotation) > threshold) {
+    if (norm_rotation > threshold) {
         int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
         *angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f;
         *speed = -(*speed);
@@ -386,8 +386,8 @@ void ChassisTask()
         chassis_cmd_recv.wz = 0;
         break;
     case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
+        // float single_round_offset = chassis_cmd_recv.offset_angle;
         float single_round_offset = chassis_cmd_recv.offset_angle;
-        // float single_round_offset = fmodf(chassis_cmd_recv.offset_angle, 360.0f);
         if(single_round_offset > 180.0f)
         {
             single_round_offset -= 360.0f;
@@ -395,7 +395,6 @@ void ChassisTask()
         else if(single_round_offset < -180.0f)
         {
             single_round_offset += 360.0f;
-
         }
         chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
         // chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index df058e1..b130af5 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -93,7 +93,7 @@ static void CalcOffsetAngle()
         new_offset -= 360.0f;
     else if (angle_diff < -180.0f)
         new_offset += 360.0f;
-    chassis_cmd_send .offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
+    chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
     last_offset_angle = chassis_cmd_send.offset_angle;
     // static float angle;
     // static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变