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底盘正常移动，小陀螺降速方便调

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guoxy06
2026-04-16 20:31:48 +08:00
parent e8f4bf3cf2
commit 90bdda348e
2 changed files with 6 additions and 7 deletions
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7
application/chassis/chassis.c
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@@ -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();

6
application/cmd/robot_cmd.c
View File

@@ -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