From 26eb4faf2fb7b37f33a204d6a35814c725221e68 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 11 十二月 2025 01:04:57 +0800
Subject: [PATCH] 解决了必须坐标点重复才能稳定跟踪的问题，原因是算法里面适配之前坐标点重复的BUG，写了前视跳点和路径跳点。改成不跳点就好了。

---
 STM32H743/FML/motion_config.h |    4 ++--
 1 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/STM32H743/FML/motion_config.h b/STM32H743/FML/motion_config.h
index 2af1cd2..4759a73 100644
--- a/STM32H743/FML/motion_config.h
+++ b/STM32H743/FML/motion_config.h
@@ -52,8 +52,8 @@
 #define MC_CFG_FORWARD_DEADZONE_PWM      (40)          // 鍓嶈繘姝诲尯闃堝��
 
 /* 杞悜瑙掗�熷害妯″瀷锛毾� = MC_CFG_STEERING_K 脳 (1500 - pwm) for left/right */
-#define MC_CFG_STEERING_K_LEFT           (0.00206f)    // 宸﹁浆绯绘暟 (deg/s per PWM, 1000 PWM -> 1033 LSB -> ~63 deg/s)
-#define MC_CFG_STEERING_K_RIGHT          (0.00201f)    // 鍙宠浆绯绘暟 (deg/s per PWM, 2000 PWM -> 1008 LSB -> ~61.5 deg/s)
+#define MC_CFG_STEERING_K_LEFT           (0.00206f)    // 宸﹁浆绯绘暟 (rad/s per PWM, 1000 PWM -> ~1.03 rad/s -> ~59 deg/s)
+#define MC_CFG_STEERING_K_RIGHT          (0.00201f)    // 鍙宠浆绯绘暟 (rad/s per PWM, 2000 PWM -> ~1.00 rad/s -> ~57 deg/s)
 #define MC_CFG_STEERING_TRIM             (10)          // 杞悜琛ュ伩鍊硷紙淇宸﹀亸锛�
 
 /* 鍩轰簬鏍″噯鏁版嵁鏇存柊閫熷害闄愬埗 */

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