Falling_jasmine/FDR-Core
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This commit is contained in:
nitiantuhao
2026-03-28 00:07:56 +08:00
parent b463aee184
commit ca76b115ea
1 changed files with 15 additions and 4 deletions
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19
Core/Src/ladrc.c
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@@ -183,12 +183,23 @@ void FourWheel_LADRC_ResetAll(void)
/** /**
* @brief 设置四个轮子的目标 RPM。 * @brief 设置四个轮子的目标 RPM。
*/ */
#define LADRC_TARGET_SLEW_RPM_PER_S 80.0f // 目标斜率，先试 80 rpm/s
static float Ramp_To_Target(float curr, float target, float step)
{
if (target > curr + step) return curr + step;
if (target < curr - step) return curr - step;
return target;
}
void FourWheel_Set_Target_RPM(float fl_rpm, float rl_rpm, float fr_rpm, float rr_rpm) void FourWheel_Set_Target_RPM(float fl_rpm, float rl_rpm, float fr_rpm, float rr_rpm)
{ {
ladrc_motors[MOTOR_FL].v = fl_rpm; const float step = LADRC_TARGET_SLEW_RPM_PER_S * LADRC_CONTROL_DT_S;
ladrc_motors[MOTOR_RL].v = rl_rpm;
ladrc_motors[MOTOR_FR].v = fr_rpm; ladrc_motors[MOTOR_FL].v = Ramp_To_Target(ladrc_motors[MOTOR_FL].v, fl_rpm, step);
ladrc_motors[MOTOR_RR].v = rr_rpm; ladrc_motors[MOTOR_RL].v = Ramp_To_Target(ladrc_motors[MOTOR_RL].v, rl_rpm, step);
ladrc_motors[MOTOR_FR].v = Ramp_To_Target(ladrc_motors[MOTOR_FR].v, fr_rpm, step);
ladrc_motors[MOTOR_RR].v = Ramp_To_Target(ladrc_motors[MOTOR_RR].v, rr_rpm, step);
} }
/** /**