TuxMonkey/half-steering-basic-framework
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no.second

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fcl
2026-04-11 18:03:31 +08:00
parent e17504c024
commit e8f802fc28
2 changed files with 9 additions and 9 deletions
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16
application/chassis/chassis.c
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@@ -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

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 */
// 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)