TuxMonkey/half-steering-basic-framework
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改底盘（疯2）

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guoxy06
2026-04-14 17:14:15 +08:00
parent ee8acb3258
commit dd12078f44
1 changed files with 1 additions and 1 deletions
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application/chassis/chassis.c
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@@ -419,7 +419,7 @@ void ChassisTask() {
} }
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上 // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东) // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东.)
static float sin_theta, cos_theta; static float sin_theta, cos_theta;
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); 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); sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);