TuxMonkey/half-steering-basic-framework
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reset again pro plus +

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fcl
2026-03-08 17:19:42 +08:00
parent cffaa9db09
commit 3a3376a554
2 changed files with 3 additions and 3 deletions
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4
application/chassis/chassis.c
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@@ -151,9 +151,9 @@ void ChassisInit()
motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config);
PID_Init_Config_s chassis_follow_pid_conf = { PID_Init_Config_s chassis_follow_pid_conf = {
.Kp = 6, // 6 .Kp = 1.05, // 6
.Ki = 0, .Ki = 0,
.Kd = 0.495, // 0.495 .Kd = 0.1, // 0.495
.DeadBand = 0.5f,// 启用死区，值为0.5度 .DeadBand = 0.5f,// 启用死区，值为0.5度
//.CoefA = 0.2, //.CoefA = 0.2,
//.CoefB = 0.3, //.CoefB = 0.3,

2
application/cmd/robot_cmd.c
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@@ -84,7 +84,7 @@ void RobotCMDInit()
static void CalcOffsetAngle() static void CalcOffsetAngle()
{ {
static float last_offset_angle = 0; static float last_offset_angle = 0;
const float smooth_factor = 0.4f; // 平滑因子,0~1之间,值越大平滑效果越明显 const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
const float deadband = 3.0f; // 死区值 const float deadband = 3.0f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度 // 新增：跟踪模式变化，用于重置基准角度