update 离车时SetOriginBias(0, 0, 0)

2026-07-04 18:08:08 +08:00
parent da3d59972c
commit e5ef701729
2 changed files with 7 additions and 1 deletions
@@ -211,12 +211,14 @@ namespace MultiWheelC

        public override IEnumerable<bool> Get()
        {
+
            pid = new PIDController(() =>
                (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
                Kp, Ki, Kd, 0, DeadZone, MaxSpeed)
            { SpeedAccPerSec = MaxSpeed / 2f };

            var chassis = (MultiWheelChassis)PilotDefinition.Chassis;
+            //chassis.SetOriginBias(0, 0, 0);
            DLog.Log($"直线行驶距离:{Target}", "TireFollowing");
            while (true)
            {