fp32 sin_yaw = 0.0f, cos_yaw = 0.0f;
//旋转控制底盘速度方向,保证前进方向是云台方向,有利于运动平稳
sin_yaw = arm_sin_f32(-chassis_move_control->chassis_yaw_motor->relative_angle);
cos_yaw = arm_cos_f32(-chassis_move_control->chassis_yaw_motor->relative_angle);
chassis_move_control->vx_set = cos_yaw * vx_set + sin_yaw * vy_set;
chassis_move_control->vy_set = -sin_yaw * vx_set + cos_yaw * vy_set;
不知道你说的是不是这个 |