From 4084ad1c884e40b641c3cdbbb636e6a7a0c74b75 Mon Sep 17 00:00:00 2001
From: Firefly <728171597@qq.com>
Date: Sun, 29 Mar 2026 20:41:28 +0800
Subject: [PATCH 1/2] =?UTF-8?q?superpower=E6=94=B9=E4=B8=BAsuper=5Fpower?=
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---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index aadf6eb..b567cb2 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -97,7 +97,7 @@ jobs:
           xrobot_add_mod BlinkLED --instance-id BlinkLED_0
           xrobot_add_mod Referee --instance-id referee
           xrobot_add_mod CMD --instance-id cmd
-          xrobot_add_mod SuperPower --instance-id superpower
+          xrobot_add_mod SuperPower --instance-id super_power
       - name: Add this repo module
         run: |
           xrobot_add_mod ${{ env.XR_MODULE_NAME }} && cat User/xrobot.yaml

From dac320e28777227b54f8bdf6aa6a8f55bf8bd96a Mon Sep 17 00:00:00 2001
From: Firefly <728171597@qq.com>
Date: Tue, 14 Apr 2026 19:18:12 +0800
Subject: [PATCH 2/2] update

---
 .github/workflows/build.yml | 2 +-
 PowerControl.hpp            | 6 +++---
 RLS.hpp                     | 7 +++----
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index b567cb2..aadf6eb 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -97,7 +97,7 @@ jobs:
           xrobot_add_mod BlinkLED --instance-id BlinkLED_0
           xrobot_add_mod Referee --instance-id referee
           xrobot_add_mod CMD --instance-id cmd
-          xrobot_add_mod SuperPower --instance-id super_power
+          xrobot_add_mod SuperPower --instance-id superpower
       - name: Add this repo module
         run: |
           xrobot_add_mod ${{ env.XR_MODULE_NAME }} && cat User/xrobot.yaml
diff --git a/PowerControl.hpp b/PowerControl.hpp
index b43040d..70c4cb6 100644
--- a/PowerControl.hpp
+++ b/PowerControl.hpp
@@ -81,10 +81,10 @@ class PowerControl : public LibXR::Application {
   static constexpr int MAX_MOTOR_COUNT = POWER_CONTROL_MAX_MOTOR_COUNT;
 
   PowerControl(LibXR::HardwareContainer& hw, LibXR::ApplicationManager& app,
-               SuperPower* superpower, bool is_helm = false,
+               SuperPower* super_power, bool is_helm = false,
                float chassis_static_power_loss = 0.0f, int motor_count_3508 = 4,
                int motor_count_6020 = 4)
-      : superpower_(superpower),
+      : superpower_(super_power),
         is_helm_(is_helm),
         rls_(1e-5f, 0.99999f),
         k3_chassis_(chassis_static_power_loss),
@@ -259,7 +259,7 @@ class PowerControl : public LibXR::Application {
     float sum_error_6020 = 0.0f;
 
     /*初始可用功率 = 最大功率 - 静态功耗*/
-    float available_power = max_power - k3_chassis_ - 3.0;
+    float available_power = max_power - k3_chassis_;
 
     for (int i = 0; i < motor_count_3508_; i++) {
       motor_power_3508_[i] = calculate_motor_model_power(
diff --git a/RLS.hpp b/RLS.hpp
index 4bda24a..147cfe8 100644
--- a/RLS.hpp
+++ b/RLS.hpp
@@ -1,7 +1,7 @@
-#include <Eigen/Core>
-
 #pragma once
 
+#include <Eigen/Core>
+
 /**
  * @brief 递归最小二乘（RLS）估计器
  * @tparam dim 参数维度
@@ -23,7 +23,7 @@ class RLS {
         lambda_(lambda_),
         delta_(delta_),
         defaultparamsvector_(ParamVector::Zero()) {
-    this->Reset();     // 初始化各个矩阵
+    this->Reset();  // 初始化各个矩阵
   }
 
   /**
@@ -68,7 +68,6 @@ class RLS {
   }
 
  private:
-
   uint32_t dimension_;
   float lambda_;
   float delta_;