TuxMonkey/half-steering-basic-framework
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底盘正常移动，小陀螺降速方便调

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guoxy06
2026-04-16 20:31:48 +08:00
parent dd12078f44
commit ca8c991a0a
2 changed files with 6 additions and 7 deletions
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7
application/chassis/chassis.c
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@@ -411,8 +411,7 @@ void ChassisTask() {
chassis_cmd_recv.wz = -PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/70.0f;
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 = 0.75;
chassis_cmd_recv.wz = -0.75;//实验版
chassis_cmd_recv.wz = -0.35;//实验版
break;
default:
break;
@@ -425,8 +424,8 @@ void ChassisTask() {
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;//实验版
chassis_vx = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版
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();