更新参数

main.py

@@ -214,12 +214,10 @@ class HTTPHandler(BaseHTTPRequestHandler):
                 vx = float(body.get("vx", 0))
                 wz = float(body.get("wz", 0))
                 shared["cmd_speed"] = vx
-                # Bicycle model Vz→steer (matches firmware Vz_to_Akm_Angle)
-                # Axle_spacing=0.158, Wheel_spacing=0.162
+                # Bicycle model wz→steer using simulation's Ackermann geometry
                 if abs(vx) > 0.01 and abs(wz) > 1e-6:
                     R_turn = vx / wz
-                    steer = math.atan(0.158 / (R_turn + 0.05 * 0.162))
-                    shared["cmd_steer"] = steer if wz >= 0 else -steer
+                    shared["cmd_steer"] = math.atan(L / R_turn)
                 else:
                     shared["cmd_steer"] = 0.0
             self.send_response(200)