Merge pull request #63 from MY-L-2003/dev

Dev
xrobot-org · Mar 31, 2024 · 61872e4 · 61872e4
2 parents d224065 + cc020d1
commit 61872e4
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Showing 5 changed files with 1,197 additions and 2 deletions.
diff --git a/src/module/chassis/mod_chassis.cpp b/src/module/chassis/mod_chassis.cpp
@@ -214,7 +214,7 @@ void Chassis<Motor, MotorParam>::Control() {
       if (cap_.online_) {
         percentage = cap_.percentage_;
       } else if (ref_.status == Device::Referee::RUNNING) {
-        percentage = this->ref_.chassis_pwr_buff / 30.0f;
+        percentage = this->ref_.chassis_pwr_buff / 60.0f;
       } else {
         percentage = 1.0f;
       }
@@ -253,7 +253,9 @@ void Chassis<Motor, MotorParam>::PraseRef() {
 
 template <typename Motor, typename MotorParam>
 float Chassis<Motor, MotorParam>::CalcWz(const float LO, const float HI) {
-  float wz_vary = fabsf(0.2f * sinf(ROTOR_OMEGA * this->now_)) + LO;
+  float wz_vary = fabsf(0.2f * sinf(ROTOR_OMEGA *
+                                    (static_cast<float>(bsp_time_get_ms())))) +
+                  LO;
   clampf(&wz_vary, LO, HI);
   return wz_vary;
 }