From a0b9323774f21b4dd26e2cd05f128452fe8e1348 Mon Sep 17 00:00:00 2001 From: myperworld Date: Tue, 7 Oct 2025 23:05:03 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dlqr=5Fu=E8=AE=A1=E7=AE=97bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- v1.1/Shibo-main-TOMMY/src/main.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/v1.1/Shibo-main-TOMMY/src/main.cpp b/v1.1/Shibo-main-TOMMY/src/main.cpp index 5416cda..41e8f63 100644 --- a/v1.1/Shibo-main-TOMMY/src/main.cpp +++ b/v1.1/Shibo-main-TOMMY/src/main.cpp @@ -668,17 +668,8 @@ void lqr_balance_loop() distance_zeropoint = LQR_distance; // 位移零点重置 pid_lqr_u.error_prev = 0; // 输出积分清零 测试 } - // 没有摇杆指令，小车微微移动，需要重置位移零点，让小车自己回来 - // if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5)) - // { - // distance_zeropoint = LQR_distance; // 位移零点重置 - // pid_lqr_u.error_prev = 0; // 输出积分清零 测试 - // wrobot_move_stop_flag = 0; - // } // 实时重置位移零点和积分情形 - // if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) - // || jump_flag > 0 || wrobot.joyy != 0 || sitting_down ) if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) || wrobot.joyy != 0 || sitting_down ) {