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INF2004_Project
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test+++++

This commit is contained in:
Richie 2023-11-20 15:11:52 +08:00
parent d1f99ab781
commit 094928841d
2 changed files with 2 additions and 4 deletions
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3
frtos/motor/motor_direction.h
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@ -121,7 +121,8 @@ turn(uint32_t direction,
updateDirection(pp_car_struct->p_direction); updateDirection(pp_car_struct->p_direction);
float initial_yaw = pp_car_struct->p_direction->yaw; float initial_yaw = pp_car_struct->p_direction->yaw;
float target_yaw = adjust_yaw(initial_yaw + degree); float target_yaw = (direction == DIRECTION_LEFT) ? initial_yaw - degree
: initial_yaw + degree;
turn_to_yaw(direction, target_yaw, pwm_level, pp_car_struct); turn_to_yaw(direction, target_yaw, pwm_level, pp_car_struct);
} }

3
frtos/motor/motor_pid.h
View File

@ -8,9 +8,6 @@
#ifndef MOTOR_PID_H #ifndef MOTOR_PID_H
#define MOTOR_PID_H #define MOTOR_PID_H
#include "magnetometer_init.h"
#include "magnetometer_direction.h"
/*! /*!
* @brief Compute the control signal using PID controller * @brief Compute the control signal using PID controller
* @param integral The integral term of the PID controller * @param integral The integral term of the PID controller