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docs: 添加 HTTP API 与 ROS 话题格式文档，底盘速度环合并左右电机为单一速度环

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李傲琦
2026-06-07 20:04:18 +08:00
parent 8c7d5deae9
commit 38f649e287
5 changed files with 168 additions and 587 deletions
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src/config.js
+2 -2
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@@ -11,8 +11,8 @@ export const MJPEG_DEBUG_URL = 'http://192.168.0.11/stream?topic=/vision/debug_i
export const CMD_WHEEL_TOPIC = '/cmd_chassis'
export const CMD_GIMBAL_TOPIC = '/cmd_gimbal'
// 键盘控制参数
export const BASE_SPEED = 0.5 // 直线基础速度
export const YAW_VELOCITY = 1.0 // 角度速率，度每秒
export const BASE_SPEED = 10 // 直线基础速度
export const YAW_VELOCITY = 5.0 // 角度速率，度每秒
// 云台角度速率 (度/秒)
export const GIMBAL_PITCH_DEG_S = 10
src/views/DebugMode.vue
+6 -14
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@@ -56,16 +56,10 @@
</div>
<div class="pid-grid">
<div class="pid-group">
<h3>速度环 左电机</h3>
<label>Kp <input type="number" v-model="chassisParams.speedLeft.kp" step="0.001" /></label>
<label>Ki <input type="number" v-model="chassisParams.speedLeft.ki" step="0.001" /></label>
<label>Kd <input type="number" v-model="chassisParams.speedLeft.kd" step="0.001" /></label>
</div>
<div class="pid-group">
<h3>速度环 右电机</h3>
<label>Kp <input type="number" v-model="chassisParams.speedRight.kp" step="0.001" /></label>
<label>Ki <input type="number" v-model="chassisParams.speedRight.ki" step="0.001" /></label>
<label>Kd <input type="number" v-model="chassisParams.speedRight.kd" step="0.001" /></label>
<h3>速度环</h3>
<label>Kp <input type="number" v-model="chassisParams.speed.kp" step="0.001" /></label>
<label>Ki <input type="number" v-model="chassisParams.speed.ki" step="0.001" /></label>
<label>Kd <input type="number" v-model="chassisParams.speed.kd" step="0.001" /></label>
</div>
<div class="pid-group">
<h3>角度环</h3>
@@ -140,8 +134,7 @@ const gimbalDefaults = {
}
const chassisDefaults = {
speedLeft: { kp: 0, ki: 0, kd: 0 },
speedRight: { kp: 0, ki: 0, kd: 0 },
speed: { kp: 0, ki: 0, kd: 0 },
angle: { kp: 0, ki: 0, kd: 0 },
position: { kp: 0, ki: 0, kd: 0 },
}
@@ -252,8 +245,7 @@ async function loadChassisConfig() {
async function saveChassisConfig() {
const payload = {
speed_left: chassisParams.speedLeft,
speed_right: chassisParams.speedRight,
speed: chassisParams.speed,
angle: chassisParams.angle,
position: chassisParams.position,
}