From 90bdda348e3205c2798eb0f64d2884afbdefa944 Mon Sep 17 00:00:00 2001 From: guoxy06 <209087794@qq.com> Date: Thu, 16 Apr 2026 20:31:48 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BA=95=E7=9B=98=E6=AD=A3=E5=B8=B8=E7=A7=BB?= =?UTF-8?q?=E5=8A=A8=EF=BC=8C=E5=B0=8F=E9=99=80=E8=9E=BA=E9=99=8D=E9=80=9F?= =?UTF-8?q?=E6=96=B9=E4=BE=BF=E8=B0=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 7 +++---- application/cmd/robot_cmd.c | 6 +++--- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 455c08c..6601cb2 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -411,8 +411,7 @@ void ChassisTask() { chassis_cmd_recv.wz = -PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/70.0f; break; case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略 - // chassis_cmd_recv.wz = 0.75; - chassis_cmd_recv.wz = -0.75;//实验版 + chassis_cmd_recv.wz = -0.35;//实验版 break; default: break; @@ -425,8 +424,8 @@ void ChassisTask() { sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); // chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; // chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; - chassis_vy = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版 - chassis_vx = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; + chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版 + chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; // 根据控制模式进行正运动学解算,计算底盘输出 SteeringWheelCalculate(); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 5101a52..089aa67 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -216,9 +216,9 @@ static void RemoteControlSet() gimbal_cmd_send.pitch = PITCH_MIN_ANGLE; // 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 = (0.25f * (float)rc_data[TEMP].rc.rocker_r_); // _水平方向 - chassis_cmd_send.vy = (0.25f * (float)rc_data[TEMP].rc.rocker_r1); // 1数值方向 . - + chassis_cmd_send.vx = (0.25f * (float)rc_data[TEMP].rc.rocker_r1); // 竖直方向 + chassis_cmd_send.vy = (0.25f * (float)rc_data[TEMP].rc.rocker_r_); // 水平方向 + //此处如果是右手系，那么x应该是前进方向即竖直方向 // // 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 // ; // 弹舱舵机控制,待添加servo_motor模块,开启