TuxMonkey/half-steering-basic-framework
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guoxy06
2026-04-04 12:00:10 +08:00
parent 3d7a4592c4
commit a6c7ccd2a1
4 changed files with 34 additions and 33 deletions
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6
application/chassis/chassis.c
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@@ -412,11 +412,11 @@ void ChassisTask()
{
single_round_offset += 360.0f;
}
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/90;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
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 = 0.5;
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;
break;
default:
break;