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完善阿克曼控制与高速串口遥测

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- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
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cyy_mac
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
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9
BALANCE/balance.h
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@@ -22,10 +22,10 @@ float target_limit_float(float insert,float low,float high);
int target_limit_int(int insert,int low,int high);
u8 Turn_Off( int voltage);
u32 myabs(long int a);
int Incremental_PI_A (float Encoder,float Target);
int Incremental_PI_B (float Encoder,float Target);
int Incremental_PI_C (float Encoder,float Target);
int Incremental_PI_D (float Encoder,float Target);
int Incremental_PI_A (float Encoder,float Target,float dt);
int Incremental_PI_B (float Encoder,float Target,float dt);
int Incremental_PI_C (float Encoder,float Target,float dt);
int Incremental_PI_D (float Encoder,float Target,float dt);
void Get_RC(void);
void Remote_Control(void);
void Drive_Motor(float Vx,float Vy,float Vz);
@@ -36,4 +36,3 @@ void PS2_control(void);
float float_abs(float insert);
void robot_mode_check(void);
#endif