From 73b2e1a7e9a09fed27da9d334f97ac8f72264732 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Fri, 5 Jul 2024 08:15:05 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=BD=B4=E8=B7=9D=E6=A0=87?=
 =?UTF-8?q?=E5=AE=9A=E5=80=BC?=
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---
 app/by_motion.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/app/by_motion.c b/app/by_motion.c
index 6b72fef..c7bb76f 100644
--- a/app/by_motion.c
+++ b/app/by_motion.c
@@ -5,8 +5,8 @@
 #include "by_debug.h"
 #include "by_can.h"
 
-#define D_X   (0.18f) // 底盘 Y 轴上两轮中心的间距
-#define D_Y   (0.25f) // 底盘 X 轴上两轮中心的间距
+#define D_X   (0.25f) // 底盘 Y 轴上两轮中心的间距
+#define D_Y   (0.28f) // 底盘 X 轴上两轮中心的间距
 #define RX_RY ((D_X + D_Y) / 2.f)
 
 /**********************************************
@@ -55,8 +55,8 @@ void by_motion_update_speed(void)
   v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
 
   // 根据安装方式调整轮子方向
-  v_wheel[1] *= -1;
-  v_wheel[2] *= -1;
+  v_wheel[1] *= -1.0f;
+  v_wheel[2] *= -1.0f;
 
   for (uint8_t i = 0; i < 4; i++) {
     motion_speed_data[i] = (int16_t)v_wheel[i];