TuxMonkey/half-steering-basic-framework
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小陀螺家庭专业版

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guoxy06
2026-04-24 21:16:42 +08:00
parent 214971c58b
commit 428956e3bd
3 changed files with 25 additions and 73 deletions
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28
application/cmd/robot_cmd.c
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@@ -87,9 +87,17 @@ void RobotCMDInit()
static void CalcOffsetAngle()
{
static float last_offset_angle = 0;
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 smooth_factor = 0.3f; // 平滑因子,
const float deadband = 3.0f; // 死区值
float smooth_factor;
// 小陀螺模式下使用更大的平滑因子，让offset_angle更快跟随云台
if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE) {
smooth_factor = 0.9f; // 快速响应
} else {
smooth_factor = 0.3f; // 平滑过渡 0~1之间,值越大平滑效果越明显
}
//const float deadband = 3.0f; // 死区值
// 新增：跟踪模式变化，用于重置基准角度
// static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
//
@@ -111,14 +119,14 @@ static void CalcOffsetAngle()
else if (angle_diff < -180.0f)
new_offset += 360.0f;
/////
// 应用死区
if (fabs(new_offset) < deadband) {
new_offset = 0.0f;
} else if (new_offset > 0) {
new_offset -= deadband;
} else {
new_offset += deadband;
}//////
// // 应用死区
// if (fabs(new_offset) < deadband) {
// new_offset = 0.0f;
// } else if (new_offset > 0) {
// new_offset -= deadband;
// } else {
// new_offset += deadband;
// }//////
chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
last_offset_angle = chassis_cmd_send.offset_angle;
// // 更新模式状态