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liumin
2025-07-07 18:27:55 +08:00
parent f50f31e5bd
commit 1b9b848949
1 changed files with 4 additions and 4 deletions
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8
app/app_differential_drive.c
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@@ -866,12 +866,12 @@ void diffParametersInit(void *signal_id)
diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩
// printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
// printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
// printf("left_motor_speed = %f\n",diff_data.left_motor_speed);
// printf("right_motor_speed = %f\n",diff_data.right_motor_speed);
// printf("left_motor_speed = %f\n",diff_data.left_motor_speed);
// printf("right_motor_speed = %f\n",diff_data.right_motor_speed);
// printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
// printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", diff_data.out_torq[0], diff_data.out_torq[1], diff_data.out_torq[2], diff_data.out_torq[3]);