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调整转向环限幅

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宋家齐 2024-05-26 21:51:26 +08:00
parent 6fa3b67cae
commit e20ead6ebf
1 changed files with 1 additions and 1 deletions
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2
application/chassis/chassis.c
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@ -211,7 +211,7 @@ void ChassisInit()
.Kp = 12.0f,//10.0f,//1, .Kp = 12.0f,//10.0f,//1,
.Ki = 0, .Ki = 0,
.Kd = 0.8f, .Kd = 0.8f,
.MaxOut = 2.0f, .MaxOut = 5.0f,
.Improve = PID_Derivative_On_Measurement|PID_DerivativeFilter, .Improve = PID_Derivative_On_Measurement|PID_DerivativeFilter,
.Derivative_LPF_RC = 0.001f .Derivative_LPF_RC = 0.001f