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底盘跟随云台正常，小陀螺舵轮方向正确

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Zorua
2026-01-18 19:51:20 +08:00
parent f149838884
commit b20c56375b
2 changed files with 3 additions and 3 deletions
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application/chassis/chassis.c
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@@ -295,8 +295,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
// 计算角度偏移
// offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x-
offset_lb = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+
offset_rf = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x-
offset_lb = -atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+
offset_rf = -atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x-
// offset_rb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // rb: y+ , x+
// at_lf = STEERING_CHASSIS_ALIGN_ANGLE_LF + offset_lf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度