TuxMonkey/half-steering-basic-framework
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Merge remote-tracking branch 'origin/dev' into dev

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TuxMonkey
2026-01-17 15:16:05 +08:00
parent 666ec971fe ee636a02b4
commit b7be2e065c
2 changed files with 5 additions and 5 deletions
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8
application/chassis/chassis.c
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@@ -232,7 +232,7 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
while (norm_rotation < -180.0f) { while (norm_rotation < -180.0f) {
norm_rotation += 360.0f; norm_rotation += 360.0f;
} }
float threshold = 90.0f; float threshold = 110.0f;
float target_single=fmodf(target_angle,360.0f); float target_single=fmodf(target_angle,360.0f);
if(target_single<0.0f) target_single+=360.0f; if(target_single<0.0f) target_single+=360.0f;
@@ -241,15 +241,15 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
if (fabsf(norm_rotation) > threshold) { if (fabsf(norm_rotation) > threshold) {
int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f); int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
*angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f; *angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f;
*speed = -(*speed); *speed = -(*speed);
}else if(norm_rotation<-threshold){ }else if(norm_rotation<-threshold){
int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f); int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
*angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f; *angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f;
*speed = -(*speed); *speed = -(*speed);
} }
ANGLE_LIMIT_360_TO_180_ABS(*angle); // ANGLE_LIMIT_360_TO_180_ABS(*angle);
// float rotation = *angle - *last_angle; // float rotation = *angle - *last_angle;
// ANGLE_LIMIT_360_TO_180_ABS(rotation); // ANGLE_LIMIT_360_TO_180_ABS(rotation);
// if (rotation > 90) { // if (rotation > 90) {

2
application/robot_def.h
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@@ -26,7 +26,7 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */ /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数 // 云台参数
#define YAW_CHASSIS_ALIGN_ECD 8015 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 #define YAW_CHASSIS_ALIGN_ECD 8192 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改 #define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) #define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)