energy changed

2019-08-05 17:27:49 +08:00
parent 7337f10123
commit e1fc19fdbf
4 changed files with 77 additions and 73 deletions
--- a/energy/src/energy/send/send.cpp
+++ b/energy/src/energy/send/send.cpp
@@ -25,6 +25,7 @@ void Energy::sendEnergy() {
            yaw_rotation = BIG_YAW_AIM_KP * yaw_rotation + BIG_YAW_AIM_KI * sum_yaw + BIG_YAW_AIM_KD * (yaw_rotation - last_yaw);
            pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
                    BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
+            MINMAX(yaw_rotation, -10, 10);
            last_yaw = tmp_yaw;
            last_pitch = tmp_pitch;
        } else if (is_chassis) {