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Merged
llLeo306 merged 3 commits into from
Apr 14, 2026
Merged

Dev #19

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4084ad1
superpower改为super_power
Rui-Xiaoyu Mar 29, 2026
998e2f3
Merge branch 'dev' of https://github.com/QDU-Robomaster/PowerControl …
Rui-Xiaoyu Mar 29, 2026
dac320e
update
Rui-Xiaoyu Apr 14, 2026
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6 changes: 3 additions & 3 deletions PowerControl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand Down Expand Up @@ -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(
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7 changes: 3 additions & 4 deletions RLS.hpp
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Original file line number Diff line number Diff line change
@@ -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
Expand All @@ -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
}

/**
Expand Down Expand Up @@ -68,7 +68,6 @@ class RLS {
}

private:

uint32_t dimension_;
float lambda_;
float delta_;
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