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2025-12-06 22:47:57 +08:00
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fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
2025-12-21 11:23:46 +08:00
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<EFBFBD>Zd d <0C>Zd d<0E>Zdd<10>Z dd<12>Z
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简单的达妙腿部/轮子控制类，只实现基本的初始化、使能、
失能、扭矩读取以及位置控制。
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fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
2025-12-21 11:23:46 +08:00
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2025-12-06 22:47:57 +08:00
dS)u使能四条腿电机。N)rr r!r"r<00>enable<6C>r'r)r*r*r+<00> enable_legs1<00><04>zLegsController.enable_legscCr4)u使能四个轮子电机。N)r#r$r%r&rr5)r'<00>wr*r*r+<00> enable_wheels6r8zLegsController.enable_wheelscCs:|j|j|j|j|j|j|j|jfD]}|j<08> |<01>qdS)u.一次性失能所有电机（腿+轮子）。N)
fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
2025-12-21 11:23:46 +08:00
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<08><04>zLegsController.disable_allcCsJ|j|j|j|jfD]}|j<04>|<01>q
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使用位置‑速度模式控制四条腿。
参数:
pos1‑pos4: 目标位置（单位依据电机规格）
vel: 速度比例，默认 0.5
fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
2025-12-21 11:23:46 +08:00
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)r
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fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
2025-12-21 11:23:46 +08:00
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r)
fix(legs, balance): invert wheel1/3 velocities and persist offset state - Negated velocities for wheel1 and wheel3 in `control_wheels_vel` to match hardware direction, ensuring correct movement. - Introduced `self.offs` in `BalanceController` to store offset values across calls instead of recreating them each update. - Refactored `_update_offsets` to operate on the instance offsets, increased threshold sensitivity from 0.2 to 1, and adjusted scaling factors for smoother offset accumulation. - Simplified offset limiting and normalization logic, removing redundant local variables. - Updated `run_balance_loop` to initialize and use the persistent `self.offs` state. These changes fix incorrect wheel commands and improve the stability and accuracy of the balance controller's offset handling.
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2025-12-06 22:47:57 +08:00

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