TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-17 17:43:42 +08:00
parent 80c832a16b
commit 26f210da12
2 changed files with 3 additions and 4 deletions
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5
application/chassis/chassis.c
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@@ -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;

2
application/cmd/robot_cmd.c
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@@ -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