取消can调试数据发送

2025-11-07 09:52:24 +08:00
parent 9a71ca1edb
commit 565c3f8918
9 changed files with 829 additions and 234 deletions
--- a/app/app_differential_drive.c
+++ b/app/app_differential_drive.c
@@ -625,9 +625,7 @@ static void diffProcess(void *signal_id)
    float out_torque[4] = {0,0,0,0};
    // 使用差速车辆动力学模型计算左右电机的期望速度
    computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, out_torque);
-    
-   
-    
+
    if( fabs(diff_data.left_front_motor_speed - diff_data.left_rear_motor_speed) >= diff_data.diff_dead_zone )//如果超过系数
    {
        diff_data.left_speed_diff = diff_data.left_front_motor_speed - diff_data.left_rear_motor_speed;