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nitiantuhao
2026-04-04 17:09:19 +08:00
parent ee63bee6e5
commit 1ecdf6c187
9 changed files with 201 additions and 320 deletions
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App/robot_params.h
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@@ -235,7 +235,7 @@ extern "C" {
* 过大：横向纠偏过猛，引起震荡
* 过小：偏了拉不回来
*/
#define PARAM_CTRL_KP_Y 3.0f
#define PARAM_CTRL_KP_Y 4.0f
/** @brief [调优] 走廊巡航速度 [m/s]
* 含义：走廊内正常行驶速度
@@ -279,7 +279,7 @@ extern "C" {
* 过小：可能撞墙
* 过大：离墙很远就停车，走不完走廊
*/
#define PARAM_SAFE_D_FRONT_STOP 0.08f
#define PARAM_SAFE_D_FRONT_STOP 0.10f
/** @brief [调优] 前向减速预警距离 [m]
* 含义：前向雷达低于此值开始线性减速