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fix: 调整轮子运动方向

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bmy
2024-05-05 16:28:11 +08:00
parent 1c3131e9c7
commit dba447dc93
1 changed files with 4 additions and 0 deletions
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4
app/by_motion.c
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@@ -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[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; 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++) { for (uint8_t i = 0; i < 4; i++) {
motion_speed_data[i] = (int16_t)v_wheel[i]; motion_speed_data[i] = (int16_t)v_wheel[i];