From be8f3f38c8ca2fddaaeb333cf393d1ff847af9cf Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sat, 11 Apr 2026 18:03:31 +0800 Subject: [PATCH] no.second --- application/chassis/chassis.c | 16 ++++++++-------- application/robot_def.h | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 3944489..471417e 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -304,8 +304,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 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 - at_lb = STEERING_CHASSIS_ALIGN_ANGLE_RF + offset_lb; - at_rf = STEERING_CHASSIS_ALIGN_ANGLE_LB + offset_rf; + at_lb = STEERING_CHASSIS_ALIGN_ANGLE_LB + offset_lb; + at_rf = STEERING_CHASSIS_ALIGN_ANGLE_RF + offset_rf; // at_rb = STEERING_CHASSIS_ALIGN_ANGLE_RB + offset_rb; // ANGLE_LIMIT_360_TO_180_ABS(at_lf); @@ -314,8 +314,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // ANGLE_LIMIT_360_TO_180_ABS(at_rb); // MinmizeRotation(&at_lf, &at_lf_last, &vt_lf); - MinmizeRotation(&at_lb, &at_rf_last, &vt_lb); - MinmizeRotation(&at_rf, &at_lb_last, &vt_rf); + MinmizeRotation(&at_lb, &at_lb_last, &vt_lb); + MinmizeRotation(&at_rf, &at_rf_last, &vt_rf); // MinmizeRotation(&at_rb, &at_rb_last, &vt_rb); } @@ -352,8 +352,8 @@ static void LimitChassisOutput() // LKMotorSetRef( motor_lf , vt_lf ); // LKMotorSetRef( motor_rb , vt_rb ); - LKMotorSetRef( motor_lb , vt_rf ); - LKMotorSetRef( motor_rf , vt_lb ); + LKMotorSetRef( motor_lb , vt_lb ); + LKMotorSetRef( motor_rf , vt_rf ); } /** @@ -428,8 +428,8 @@ void ChassisTask() static float sin_theta, cos_theta; cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); 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; + chassis_vx = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; //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 diff --git a/application/robot_def.h b/application/robot_def.h index a159ee2..3a8845f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -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 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD -3686 // 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 -3595 // 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 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 30 // 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)