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