btl143/BC1C-firmware
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更新轴距标定值

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bmy
2024-07-05 08:15:05 +08:00
parent dc858825ed
commit 73b2e1a7e9
1 changed files with 4 additions and 4 deletions
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8
app/by_motion.c
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@@ -5,8 +5,8 @@
#include "by_debug.h" #include "by_debug.h"
#include "by_can.h" #include "by_can.h"
#define D_X (0.18f) // 底盘 Y 轴上两轮中心的间距 #define D_X (0.25f) // 底盘 Y 轴上两轮中心的间距
#define D_Y (0.25f) // 底盘 X 轴上两轮中心的间距 #define D_Y (0.28f) // 底盘 X 轴上两轮中心的间距
#define RX_RY ((D_X + D_Y) / 2.f) #define RX_RY ((D_X + D_Y) / 2.f)
/********************************************** /**********************************************
@@ -55,8 +55,8 @@ void by_motion_update_speed(void)
v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w; v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
// 根据安装方式调整轮子方向 // 根据安装方式调整轮子方向
v_wheel[1] *= -1; v_wheel[1] *= -1.0f;
v_wheel[2] *= -1; v_wheel[2] *= -1.0f;
for (uint8_t i = 0; i < 4; i++) { for (uint8_t i = 0; i < 4; i++) {
motion_speed_data[i] = (int16_t)v_wheel[i]; motion_speed_data[i] = (int16_t)v_wheel[i];