实现蟹行轨迹跟踪测试并优化底盘XYTh与原地旋转舵角控制

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-07-29 18:21:29 +08:00
parent 583a7d00ca
commit 7e05ff098e
33 changed files with 1956 additions and 98 deletions
@@ -39,9 +39,11 @@ public class PilotConfig : MultiWheelPilotConfig
    #region 单车-临时
    [FieldMember(desc = "原地旋转Kp")]
    public float InPlaceRotateKp = 0.2f;
+    // public float InPlaceRotateKp = 0.2f;

    [FieldMember(desc = "原地旋转Ki")]
    public float InPlaceRotateKi = 0.01f;
+    // public float InPlaceRotateKi = 0.01f;

    [FieldMember(desc = "原地旋转Kd")]
    public float InPlaceRotateKd = 0f;