fix: 调整轮子运动方向

2024-05-05 16:28:11 +08:00
parent 1c3131e9c7
commit dba447dc93
1 changed files with 4 additions and 0 deletions
--- 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];