TuxMonkey/half-steering-basic-framework
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fcl
2026-03-04 20:33:02 +08:00
parent aafc4b7da9
commit c41dfd54ba
2 changed files with 10 additions and 10 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_rf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+
offset_lb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x-注意
// 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
@@ -425,7 +425,7 @@ void ChassisTask()
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 * 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
SteeringWheelCalculate();