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2025-12-06 22:47:57 +08:00
o
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
 <i<><00>@sNddlZddlmZddlmZGdd<05>d<05>Zdd<07>Zedkr%ed <09>dSdS)
fix(balance): correct IMU import and add quick_test entrypoint - Updated import in `balance.py` from `dm_imu_pkg` to the correct `dm_imu` package. - Introduced `quick_test()` function as a convenient debugging entry point, moving the previous script execution logic into this callable. - Modified `__main__` block to display a UI usage message instead of directly running the balance loop. - Revised `dm_imu.egg-info/PKG-INFO` to reflect the new Gradio‑based control panel documentation and project description.
2025-12-11 12:12:12 +08:00
<EFBFBD>N)<01>imu_py)<01>LegsControllerc@s^eZdZdZddd<06>Zdd<08>Zd d
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<EFBFBD>Zd d <0C>Zddd<0F>Zdd<11>Z dd<13>Z
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BalanceController 将原 balance.py 的平衡控制逻辑封装为类，
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与位置控制等接口，保持脚本仍可直接运行。
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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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2025-12-09 22:55:35 +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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2025-12-06 22:47:57 +08:00

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
 %rcCs@t<00>}|<00><01>|jdddddd<03>t<03>d<04>|<00><05>|<00><06>dS)uH用于开发调试的快捷入口，手动调用时执行完整流程。r=r%r><00>N)rr"r&r?r@rArC)<01>
fix(balance): correct IMU import and add quick_test entrypoint - Updated import in `balance.py` from `dm_imu_pkg` to the correct `dm_imu` package. - Introduced `quick_test()` function as a convenient debugging entry point, moving the previous script execution logic into this callable. - Modified `__main__` block to display a UI usage message instead of directly running the balance loop. - Revised `dm_imu.egg-info/PKG-INFO` to reflect the new Gradio‑based control panel documentation and project description.
2025-12-11 12:12:12 +08:00
controllerr r r<00>
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
quick_test<EFBFBD>s 
 rG<00>__main__u.请通过 UI 打开串口并控制机器人。) r?Zdm_imurZLegs_controllerrrrGrrr r r r<00><module>s   <04>
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