Falling_jasmine/FDR-Core
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nitiantuhao
2026-03-27 23:10:59 +08:00
parent 427b4f4eb8
commit 38258ca6e5
5 changed files with 15 additions and 13 deletions
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7
Core/Src/motor.c
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@@ -261,9 +261,10 @@ void Motor_Update_RPM(float dt_s)
s_last_count[MOTOR_RR] = curr_count_rr;
/* 左侧输入镜像修正：让“车体前进”统一表现为正脉冲 / 正 RPM。 */
delta[MOTOR_FL] = (int16_t)(-delta[MOTOR_FL]);
delta[MOTOR_RL] = (int16_t)(-delta[MOTOR_RL]);
// delta[MOTOR_FL] = (int16_t)(-delta[MOTOR_FL]);
// delta[MOTOR_RL] = (int16_t)(-delta[MOTOR_RL]);
delta[MOTOR_FR] = (int16_t)(-delta[MOTOR_FR]);
delta[MOTOR_RR] = (int16_t)(-delta[MOTOR_RR]);
/* 用 32 位内部累加，避免偶发高速度时 16 位回绕。 */
s_odom_acc_ticks[MOTOR_FL] += delta[MOTOR_FL];
s_odom_acc_ticks[MOTOR_RL] += delta[MOTOR_RL];