ydy0615 c331d0bac0 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

9.3 KiB

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