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修复lqr_u计算bug

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myperworld committed 2025-10-07 23:05:03 +08:00
1 parent c059348614
commit a0b9323774
1 file changed
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v1.1/Shibo-main-TOMMY/src/main.cpp
-9
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@@ -668,17 +668,8 @@ void lqr_balance_loop()
distance_zeropoint = LQR_distance; // 位移零点重置 distance_zeropoint = LQR_distance; // 位移零点重置
pid_lqr_u.error_prev = 0; // 输出积分清零 测试 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 // 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) if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15)
|| wrobot.joyy != 0 || sitting_down ) || wrobot.joyy != 0 || sitting_down )
{ {