TuxMonkey/half-steering-basic-framework
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/half-steering-basic-framework synced 2026-10-24 01:52:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

底盘跟随云台正常，小陀螺舵轮方向错误

Browse Source
This commit is contained in:
Zorua
2026-01-18 19:51:57 +08:00
parent f149838884
commit 3717e5603a
2 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
application/chassis/chassis.c
View File

@@ -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

2
application/cmd/robot_cmd.c
View File

@@ -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