7.9晚

2026-07-09 20:12:25 +08:00
parent 914584b71c
commit 915b1b1af0
10 changed files with 1193 additions and 131 deletions
@@ -244,7 +244,11 @@ public class DriveControls {

        // If angle difference is within threshold, don't rotate
        if (Math.abs(calDifference) > 1.0) {
-            return calDifference  * Constants.AutoPositioning.autoRotationkP;
+            double rotationRate = calDifference * Constants.AutoPositioning.autoRotationkP;
+            if (Math.abs(rotationRate) < 0.24) {
+                return Math.copySign(0.24, rotationRate);
+            }
+            return rotationRate;
        } else {
            return 0;
        }