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Use more natural torqueTarget order in mixer (xyz)

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This commit is contained in:
Oleg Kalachev 2024-05-21 10:52:39 +03:00
parent 94d24cbd28
commit 7cfcf5b63b
1 changed files with 4 additions and 4 deletions
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8
flix/control.ino
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@ -149,10 +149,10 @@ void controlTorque() {
return; return;
} }
motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.y + torqueTarget.x - torqueTarget.z; motors[MOTOR_FRONT_LEFT] = thrustTarget + torqueTarget.x + torqueTarget.y - torqueTarget.z;
motors[MOTOR_FRONT_RIGHT] = thrustTarget + torqueTarget.y - torqueTarget.x + torqueTarget.z; motors[MOTOR_FRONT_RIGHT] = thrustTarget - torqueTarget.x + torqueTarget.y + torqueTarget.z;
motors[MOTOR_REAR_LEFT] = thrustTarget - torqueTarget.y + torqueTarget.x + torqueTarget.z; motors[MOTOR_REAR_LEFT] = thrustTarget + torqueTarget.x - torqueTarget.y + torqueTarget.z;
motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.y - torqueTarget.x - torqueTarget.z; motors[MOTOR_REAR_RIGHT] = thrustTarget - torqueTarget.x - torqueTarget.y - torqueTarget.z;
motors[0] = constrain(motors[0], 0, 1); motors[0] = constrain(motors[0], 0, 1);
motors[1] = constrain(motors[1], 0, 1); motors[1] = constrain(motors[1], 0, 1);