#include "Chassis.h" #include "gpio.h" #include "user_math.h" #include "bsp_buzzer.h" #include "bsp_delay.h" /* 机器人坐标系，向前x，右y，上yaw 不同于nuc (前x，左y，上yaw) x | --y */ static int8_t Chassis_SetCtrl(Chassis_t *c, CMD_t *ctrl) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl->CMD_CtrlType == c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) return CHASSIS_OK; c->chassis_ctrl.ctrl = ctrl->CMD_CtrlType; c->chassis_ctrl.mode = ctrl->CMD_mode; return CHASSIS_OK; } int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) { if (c == NULL) return CHASSIS_ERR_NULL; if (can == NULL) return CHASSIS_ERR_NULL; for (uint8_t i = 0; i < 4; i++) { c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed; c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current; } // for (uint8_t i = 0; i < 4; i++) { // // c->sick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值 // } c->sick_cali.sick_dis[0]=can->sickfed.raw_dis[0] ; c->sick_cali.sick_dis[1]=can->sickfed.raw_dis[1]+50 ; //有点误差，手动补偿 c->sick_cali.sick_dis[2]=can->sickfed.raw_dis[2] ; return CHASSIS_OK; } int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_freq) { if (c == NULL) return CHASSIS_ERR_NULL; c->param = param; for (int i = 0; i < 4; i++) { PID_init(&(c->pid.chassis_3508VecPID[i]), PID_POSITION_D, &(c->param->M3508_param)); } PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_param)); PID_init(&(c->pid.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param)); /*sick*/ PID_init(&(c->pid.SickCaliWzInPID), PID_POSITION, &(c->param->SickCali_WInparam)); PID_init(&(c->pid.SickCaliWzOutPID), PID_POSITION, &(c->param->SickCali_WOutparam)); PID_init(&(c->pid.SickCaliVxInPID), PID_POSITION, &(c->param->SickCali_XInparam)); PID_init(&(c->pid.SickCaliVxOutPID), PID_POSITION, &(c->param->SickCali_XOutparam)); PID_init(&(c->pid.SickCaliVyInPID), PID_POSITION, &(c->param->SickCali_YInparam)); PID_init(&(c->pid.SickCaliVyOutPID), PID_POSITION, &(c->param->SickCali_YOutparam)); /*修正 */ PID_init(&(c->pid.Chassis_AngleAdjust), PID_POSITION, &(c->param->Chassis_AngleAdjust_param)); LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波 LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波 LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波 LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波 c->sick_cali .sickparam=c->param ->sickparam ; return CHASSIS_OK; } fp32 pian_yaw; void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) { fp64 Nor_Vx, Nor_Vy; normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy); c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+pian_yaw; // 右前 c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+pian_yaw; // 右后 c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +pian_yaw; // 左后 c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +pian_yaw; // 左前 Chassis_AngleCompensate(c); } int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL; Chassis_SetCtrl(c, ctrl); // IMU加滤波修正 c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); /*初始数据*/ c->move_vec.Vw = 0; c->move_vec.Vx = 0; c->move_vec.Vy = 0; c->NUC_send.send[0] = 0; c->sick_cali.is_reach = 0; switch (c->chassis_ctrl.ctrl) { case RCcontrol: switch (c->chassis_ctrl.mode) { case Normal: c->move_vec.Vw = ctrl->Vw * 8000; c->move_vec.Vx = ctrl->Vy * 8000; c->move_vec.Vy = ctrl->Vx * 8000; break; case Pitch: c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; break; case UP_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; break; case Chassis_Adjust_Sick: sick_calibration(c, ctrl, out); c->NUC_send.send[0] = (c->sick_cali.is_reach == 1) ? 1 : 0; break; default: break; } break; case AUTO: switch (c->chassis_ctrl.mode) { case AUTO_MID360: c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f); // c->NUC_send.send[0] = 1; break; case AUTO_MID360_Pitch: break; case AUTO_MID360_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; break; default: break; } case PASS_BALL: switch (c->chassis_ctrl.mode) { case PB_UP: case PB_MID: case PB_DOWN: c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f); break ; } break; break; default: break; } // 电机速度限幅 abs_limit_fp(&c->move_vec.Vx, 6000.0f); abs_limit_fp(&c->move_vec.Vy, 6000.0f); abs_limit_fp(&c->move_vec.Vw, 6000.0f); Chassis_speed_calculate(c, c->move_vec.Vx, c->move_vec.Vy, c->move_vec.Vw); for (uint8_t i = 0; i < 4; i++) { c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]), c->motorfeedback.rotor_rpm3508[i], c->hopemotorout.OmniSpeedOut[i]); out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; } // c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; return CHASSIS_OK; } /* sick0,下 sick1,左2 sick2,左1 */ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL; fp32 delta_w,delta_x,delta_y; fp32 sick0 = c->sick_cali.sick_dis[0] ; fp32 sick1 = c->sick_cali.sick_dis[1]; fp32 sick2 = c->sick_cali.sick_dis[2]; const sickparam_t *param = &c->sick_cali.sickparam; fp32 diff_yaw = -(fp32)(sick1 - sick2); fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); delta_w=(&c->pid.SickCaliWzInPID, diff_yaw, 0); delta_x=(&c->pid.SickCaliVxInPID, diff_x, 0); delta_y=(&c->pid.SickCaliVyInPID, diff_y,0); static uint16_t reach_cnt = 0; if (fabsf(diff_yaw) <= param->w_error && fabsf(diff_x) <= param->xy_error && fabsf(diff_y) <= param->xy_error) { reach_cnt++; if (reach_cnt >= 50) { c->sick_cali.is_reach = 1; } } else { reach_cnt = 0; c->sick_cali.is_reach = 0; } return CHASSIS_OK; } int8_t Chassis_AngleCompensate(Chassis_t *c) { if (c == NULL) return CHASSIS_ERR_NULL; static fp32 pian_angel,cur_angle; if((c->move_vec.Vx || c->move_vec.Vy) && (c->move_vec.Vw== 0)) { pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); } else { cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); pian_angel=0; } pian_yaw = PID_calc(&c->pid.Chassis_AngleAdjust,pian_angel,0); }