Open wztted opened 2 years ago
下面这段中的estVelocity 中<<5和>>5没有看明白，还有CompensateAdvancedAngle这个函数补偿的到底是什么？怎么测量函数中的参数？ // Estimate Velocity controller->estVelocityIntegral += ( (controller->realPosition - controller->realPositionLast) * motionPlanner.CONTROL_FREQUENCY
((controller->estVelocity << 5) - controller->estVelocity) ); controller->estVelocity = controller->estVelocityIntegral >> 5; controller->estVelocityIntegral -= (controller->estVelocity << 5);
// Estimate Position controller->estLeadPosition = Controller::CompensateAdvancedAngle(controller->estVelocity); controller->estPosition = controller->realPosition + controller->estLeadPosition;
下面这段中的estVelocity 中<<5和>>5没有看明白，还有CompensateAdvancedAngle这个函数补偿的到底是什么？怎么测量函数中的参数？ // Estimate Velocity controller->estVelocityIntegral += ( (controller->realPosition - controller->realPositionLast) * motionPlanner.CONTROL_FREQUENCY
((controller->estVelocity << 5) - controller->estVelocity) ); controller->estVelocity = controller->estVelocityIntegral >> 5; controller->estVelocityIntegral -= (controller->estVelocity << 5);
// Estimate Position controller->estLeadPosition = Controller::CompensateAdvancedAngle(controller->estVelocity); controller->estPosition = controller->realPosition + controller->estLeadPosition;