From 3717e5603a3f16b096adee3ccd5089f6568c0f85 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sun, 18 Jan 2026 19:51:57 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BA=95=E7=9B=98=E8=B7=9F=E9=9A=8F=E4=BA=91?= =?UTF-8?q?=E5=8F=B0=E6=AD=A3=E5=B8=B8=EF=BC=8C=E5=B0=8F=E9=99=80=E8=9E=BA?= =?UTF-8?q?=E8=88=B5=E8=BD=AE=E6=96=B9=E5=90=91=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 4 ++-- application/cmd/robot_cmd.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 057f553..8dc08cd 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -295,8 +295,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 计算角度偏移 // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- - offset_lb = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ - offset_rf = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- + offset_lb = -atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ + offset_rf = -atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- // offset_rb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // rb: y+ , x+ // at_lf = STEERING_CHASSIS_ALIGN_ANGLE_LF + offset_lf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4999adb..b2ea2d2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -175,7 +175,7 @@ static void RemoteControlSet() // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 - chassis_cmd_send.vy = -0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 + chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 // // 发射参数 // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开