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feat: 完成四轮子独立pid调试

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Horldsence
2026-09-23 12:26:07 +08:00
parent f8aeafdfc2
commit af151525d1
7 changed files with 134 additions and 24 deletions
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justfile
+4 -3
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@@ -75,7 +75,8 @@ tune-write config="config/chassis.toml.example" motor="front_left" out="target/t
cargo run --release -p chassis-tune -- sweep --config {{config}} --motor {{motor}} --write-config {{out}} --samples 256 --out-dir target/tune
tune-bench board="root@192.168.2.2" device="/dev/ttyACM0" esc_id="1" samples="24" preset="bench_noload" opts="":
cargo build --release -p chassis-tune
scp -q target/release/chassis-tune {{board}}:/tmp/chassis-tune
rustup target add armv7-unknown-linux-musleabihf
cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf
scp -q target/armv7-unknown-linux-musleabihf/release/chassis-tune {{board}}:/tmp/chassis-tune
scp -q config/tune.toml {{board}}:/tmp/tune.toml
ssh {{board}} "/tmp/chassis-tune sweep --backend bench --preset /tmp/tune.toml --preset-name {{preset}} --device {{device}} --esc-id {{esc_id}} --samples {{samples}} --top-k 3 --i-know-the-wheel-spins {{opts}}"
ssh {{board}} "/tmp/chassis-tune sweep --backend bench --preset /tmp/tune.toml --preset-name {{preset}} --device {{device}} --esc-id {{esc_id}} --current-limit 1500 --samples {{samples}} --top-k 3 --i-know-the-wheel-spins {{opts}}"