From dba447dc934de10f9e4909c9164fe1a069c7cdaa Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Sun, 5 May 2024 16:28:11 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E8=B0=83=E6=95=B4=E8=BD=AE=E5=AD=90?=
 =?UTF-8?q?=E8=BF=90=E5=8A=A8=E6=96=B9=E5=90=91?=
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---
 app/by_motion.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/app/by_motion.c b/app/by_motion.c
index 5ca2f3c..6b72fef 100644
--- a/app/by_motion.c
+++ b/app/by_motion.c
@@ -54,6 +54,10 @@ void by_motion_update_speed(void)
   v_wheel[2] = speed->v_x + speed->v_y + RX_RY * speed->v_w;
   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;
+
   for (uint8_t i = 0; i < 4; i++) {
     motion_speed_data[i] = (int16_t)v_wheel[i];