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同步步兵代码，暂时关闭底盘跟随

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Qi Bin
2025-11-02 21:21:11 +08:00
parent 456cc96c81
commit 3821589bed
693 changed files with 238044 additions and 2735 deletions
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11
底盘/底盘/User/Parameter.h
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@@ -2,17 +2,16 @@
#define __PARAMETER_H
/*=============================================结构参数=============================================*/
#define Yaw_GM6020PositionValue 4096//Yaw轴编码器值
#define Yaw_GM6020PositionValue 4050//Yaw轴编码器值
/*=============================================麦轮参数=============================================*/
#define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm)
#define Mecanum_rx 27.00f//底盘中心到轮子中心的距离的x轴分量(单位cm)
#define Mecanum_ry 27.00f//底盘中心到轮子中心的距离的y轴分量(单位cm)
#define Mecanum_rx 18.0f//底盘中心到轮子中心的距离的x轴分量(单位cm)
#define Mecanum_ry 18.75f//底盘中心到轮子中心的距离的y轴分量(单位cm)
#define Mecanum_LeverSpeedMapRate (1.2f/660.0f)//拨杆速度映射比例
#define Mecanum_LGyroScopeAngularVelocity 3.0f//小陀螺角速度
#define Mecanum_RGyroScopeAngularVelocity 3.0f//小陀螺角速度
#define Mecanum_NormalSpeedRate 2.0f//底盘正常速度和超功率速度的比值
#define Mecanum_GyroScopeAngularVelocity 7.0f//小陀螺角速度
#define Mecanum_NormalSpeedRate 1.5f//底盘正常速度和超功率速度的比值
#endif