cyy/car_simulation
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更新参数

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cyy_mac
2026-06-20 21:51:17 +08:00
parent 61e1be28c0
commit 9e0b50a4ea
1 changed files with 2 additions and 4 deletions
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6
main.py
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@@ -214,12 +214,10 @@ class HTTPHandler(BaseHTTPRequestHandler):
vx = float(body.get("vx", 0)) vx = float(body.get("vx", 0))
wz = float(body.get("wz", 0)) wz = float(body.get("wz", 0))
shared["cmd_speed"] = vx shared["cmd_speed"] = vx
# Bicycle model Vz→steer (matches firmware Vz_to_Akm_Angle) # Bicycle model wz→steer using simulation's Ackermann geometry
# Axle_spacing=0.158, Wheel_spacing=0.162
if abs(vx) > 0.01 and abs(wz) > 1e-6: if abs(vx) > 0.01 and abs(wz) > 1e-6:
R_turn = vx / wz R_turn = vx / wz
steer = math.atan(0.158 / (R_turn + 0.05 * 0.162)) shared["cmd_steer"] = math.atan(L / R_turn)
shared["cmd_steer"] = steer if wz >= 0 else -steer
else: else:
shared["cmd_steer"] = 0.0 shared["cmd_steer"] = 0.0
self.send_response(200) self.send_response(200)