feat: 修正左右电机物理方向差异

2026-04-14 19:32:06 +08:00
parent fb9e67a955
commit a2328edbd7
1 changed files with 5 additions and 0 deletions
--- a/Core/Bsp/bsp_motor.c
+++ b/Core/Bsp/bsp_motor.c
@@ -71,6 +71,11 @@ void motor_set_speed(motor_id_t motor_id, int16_t speed)
        default: return;
    }

+    /* 纠正左右电机物理方向差异 */
+    if (motor_id == MOTOR_3 || motor_id == MOTOR_4) {
+        speed = -speed;
+    }
+
    /* 限制速度范围 (ARR=3599) */
    if (speed > 3599) speed = 3599;
    if (speed < -3599) speed = -3599;