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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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6
application/cmd/robot_cmd.c
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@@ -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