Change constant-speed gyro to dynamic-speed gyro. #124
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YoujianWu
requested changes
Dec 6, 2024
| double sin_gyro_base_scale_{ 1. }; | ||
| double sin_gyro_amplitude_{ 0. }; | ||
| double sin_gyro_period_{ 1. }; | ||
| double sin_gyro_phase_{ 0. }; |
| vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_); | ||
| vel_cmd_sender_->setAngularZVel( | ||
| getDynamicScale(sin_gyro_base_scale_, sin_gyro_amplitude_, sin_gyro_period_, sin_gyro_phase_) * | ||
| gyro_rotate_reduction_); |
| else | ||
| vel_cmd_sender_->setAngularZVel(1.0); | ||
| vel_cmd_sender_->setAngularZVel( | ||
| getDynamicScale(sin_gyro_base_scale_, sin_gyro_amplitude_, sin_gyro_period_, sin_gyro_phase_)); |
| @@ -42,7 +47,22 @@ void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode) | |||
| speed_change_scale_ = normal_speed_scale_; | |||
| } | |||
| } | |||
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| double ChassisGimbalShooterCoverManual::getDynamicScale(double base_scale, double amplitude, double period, double phase) | |||
|
@Rayy0527 记得改改看看 |
YoujianWu
requested changes
Dec 6, 2024
YoujianWu
requested changes
Dec 7, 2024
Rayy0527
changed the title
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Add dynamic-speed gyro on standard.