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优化差速转舵并增加纵向辨识测试

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yuxiang.shen
2026-08-27 12:39:22 +08:00
parent 17092c2766
commit 1c5181b327
24 changed files with 1748 additions and 266 deletions
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参考文档/cartparams.json
+10 -1
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@@ -21,13 +21,22 @@
"MaxManualTheta": 45.0,
"IsDiffSteer": true,
"ManualThetaPow": 2.0,
"DiffSteerKp": 0.003,
"DiffSteerKp": 0.0042,
"DiffSteerKi": 0.0,
"DiffSteerKd": 0.0,
"DiffSteerMaxI": 0.0,
"DiffSteerThresh": 0.3,
"DiffSteerDeadZone": 0.1,
"DiffSteerSpeedAcc": 1.0,
"DiffSteerRateFeedforwardGain": 0.0,
"DiffSteerRateFeedforwardMaximumSpeed": 0.03,
"EnableDiffSteerSettlingHysteresis": true,
"DiffSteerStopErrorDegrees": 0.5,
"DiffSteerRestartErrorDegrees": 0.8,
"DiffSteerSettlingCycles": 3,
"EnableDiffSteerInverseFeedforward": true,
"DiffSteerPlantGain": 687.06,
"DiffSteerInverseFeedforwardTimeConstantSeconds": 0.15,
"Ghost_ActualSpeedLeftFront_GhostPIDUpdater_kp": 0.5,
"Ghost_ActualSpeedLeftFront_GhostPIDUpdater_threshold": 200.0,
"Ghost_ActualSpeedLeftRear_GhostPIDUpdater_kp": 0.5,