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update arduino/Betas/RGB_V1.1.1/main/main.ino.

master
慕炎 2022-02-21 14:52:44 +00:00 committed by Gitee
parent 902bcde576
commit 0a0180779d
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1 changed files with 4 additions and 2 deletions
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arduino/Betas/RGB_V1.1.1/main/main.ino
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@ -701,13 +701,15 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
last_unstable_time = millis(); last_unstable_time = millis();
if (stable) //如果是稳态进入非稳态则调整为目标角度 if (stable) //如果是稳态进入非稳态则调整为目标角度
{ {
target_angle = EEPROM.readFloat(0) - p_angle; //target_angle = EEPROM.readFloat(0) - p_angle;
target_angle = EEPROM.readFloat(0);
stable = 0; stable = 0;
} }
} }
if ((millis() - last_unstable_time) > 500 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态 if ((millis() - last_unstable_time) > 500 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
{ {
target_angle -= _sign(target_velocity) * 0.4; //target_angle -= _sign(target_velocity) * 0.4;
target_angle = target_angle+p_angle;
stable = 1; stable = 1;
} }