更新注释

Software/ROS_Driver/ROS1-driver/hoverboard_driver/include/hoverboard_driver/hoverboard.h

@@ -30,6 +30,8 @@ public:
     hardware_interface::VelocityJointInterface velocity_joint_interface;
 
     // The units for wheels are radians (pos), radians per second (vel,cmd), and Netwton metres (eff)
+    // 轮子的单位是弧度（位置）、弧度每秒（速度和命令）、牛顿米（扭矩）
+    // Joint：关节，一般机械臂里面控制用的较多
     struct Joint {
         std_msgs::Float64 pos;
         std_msgs::Float64 vel;

Software/ROS_Driver/ROS1-driver/hoverboard_driver/src/hoverboard.cpp

@@ -164,6 +164,7 @@ void Hoverboard::protocol_recv (char byte) {
             temp_pub.publish(f);
 
             // 转换 RPM to RAD/S
+            // direction_correction 这个参数默认为1，根据ros的调整进行更新
             joints[0].vel.data = direction_correction * (abs(msg.speedL_meas) * 0.10472);
             joints[1].vel.data = direction_correction * (abs(msg.speedR_meas) * 0.10472);
 
@@ -194,10 +195,15 @@ void Hoverboard::write(const ros::Time& time, const ros::Duration& period) {
 
     // 计算PID输出
     double pid_outputs[2];
+    // 这里的PID控制器：测量速度、预期速度、控制周期
+    // 这里调用的是PID::operator()
+    // cmd.data应该是预期的速度
     pid_outputs[0] = pids[0](joints[0].vel.data, joints[0].cmd.data, period);
     pid_outputs[1] = pids[1](joints[1].vel.data, joints[1].cmd.data, period);
 
     // Convert PID outputs in RAD/S to RPM
+    // PID输出的是弧度每秒，需要转为转每分钟
+    // RPM=RAD/sec × (2*pi)/60 = RAD/sec * *(2*3.141592) / 60 = 0.1047197
     double set_speed[2] = {
         pid_outputs[0] / 0.10472,
         pid_outputs[1] / 0.10472
@@ -205,8 +211,9 @@ void Hoverboard::write(const ros::Time& time, const ros::Duration& period) {
 
     // Calculate steering from difference of left and right
     // 根据左右差计算转向
+    // 机器人底层的控制应该是采用差速控制模型
     const double speed = (set_speed[0] + set_speed[1]) / 2.0;
-    const double steer = (set_speed[0] - speed)*2.0;
+    const double steer = (set_speed[0] - speed) * 2.0;
 
     SerialCommand command;
     command.start = (uint16_t)START_FRAME;