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修改单个参数读取

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liumin
2025-07-30 11:28:53 +08:00
parent 242dcb6feb
commit febaad3dc6
2 changed files with 483 additions and 466 deletions
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10
app/app_differential_drive.c
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@@ -431,8 +431,13 @@ void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max
// linear_velocity_x = constrain(linear_velocity_x, -max_torque, max_torque);
// yaw_rate = constrain(yaw_rate, -2*max_torque, 2*max_torque);
if( diff_data.min_Torq > fabs(linear_velocity_x) )//20250728 增加死区 解决手柄回中，不停车问题
{
linear_velocity_x = 0;
}
left_speed_mps = linear_velocity_x + yaw_rate;
right_speed_mps = linear_velocity_x - yaw_rate;
right_speed_mps = linear_velocity_x - yaw_rate;
//扭矩分配
if(max_torque < left_speed_mps)
@@ -608,7 +613,7 @@ static void diffProcess(void *signal_id)
// 限制输出速度在当前速度和最大加速度计算出来的速度之间
// output_speed = constrain(output_speed, diff_data.speed - max_acceleration * dt, diff_data.speed + max_acceleration * dt);
if( (0 == diff_data.desired_yaw_rate) && (0 == diff_data.desired_speed) )//手柄回中，速度小的时候清0
if( (0 == diff_data.desired_yaw_rate) && (0 == diff_data.desired_speed) && ( 10 > fabs(diff_data.left_motor_speed) ) && ( 10 > fabs(diff_data.right_motor_speed) ) )//手柄回中，速度小的时候清0
{
resetPidIntegral(&speed_pid);
resetPidIntegral(&yaw_rate_pid);
@@ -620,6 +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