364 lines
9.8 KiB
C
364 lines
9.8 KiB
C
#include "up.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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/*接线
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*/
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#define GEAR_RATIO_2006 (36) // 2006减速比
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#define GEAR_RATIO_3508 (19)
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#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
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#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
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#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
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#define CAN2_G3508_ID (0x200)
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// 定义继电器控制
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#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, RELAY_Pin, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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{
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u->param = param; /*初始化参数 */
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/*pid初始化*/
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PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param ));
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PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));
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PID_init (&u->pid .Shoot_M2006angle ,PID_POSITION ,&(u->param->Shoot_M2006_angle_param ));
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PID_init (&u->pid .Shoot_M2006speed ,PID_POSITION ,&(u->param->Shoot_M2006_speed_param ));
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PID_init (&u->pid .Pitch_Angle_M2006_speed ,PID_POSITION ,&(u->param->Pitch_Angle_M2006_speed_param));
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PID_init (&u->pid .Pitch_M2006_angle ,PID_POSITION ,&(u->param->Pitch_M2006_angle_param ));
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PID_init (&u->pid .Pitch_M2006_speed ,PID_POSITION ,&(u->param->Pitch_M2006_speed_param ));
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u->go_cmd =u->param ->go_cmd ;
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LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f);
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if (!u->Pitch_Cfg .is_init) {
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u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值
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u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
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u->Pitch_Cfg .is_init = 1;
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}
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BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层
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}
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/*can，上层状态更新*/
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int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
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u->motorfeedback .VESC.VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
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u->motorfeedback .VESC.VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
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u->motorfeedback .Encoder .angle = can ->Oid.angle ;
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u->motorfeedback .Encoder .ecd = can ->Oid.ecd ;
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for(int i=0;i<4;i++){ //范围0x201--0x204
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u->motorfeedback .DJmotor_feedback[i].id =i+CAN2_G3508_ID+1;
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u->motorfeedback .DJmotor_feedback[i].rpm =can ->motor .up_dribble_motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .DJmotor_feedback[i].ecd =can ->motor .up_dribble_motor3508.as_array [i].rotor_ecd ;
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DJ_processdata(&u->motorfeedback .DJmotor_feedback [i], MOTOR3508_ECD_TO_ANGLE);
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}
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for(int i=0;i<2;i++){ //范围0x205--0x206
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u->motorfeedback .DJmotor_feedback[i+4].id =i+CAN2_G3508_ID+4+1;
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u->motorfeedback .DJmotor_feedback[i+4].rpm =can ->motor .up_shoot_motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .DJmotor_feedback[i+4].ecd =can ->motor .up_shoot_motor3508.as_array [i].rotor_ecd ;
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DJ_processdata(&u->motorfeedback .DJmotor_feedback [i+4], MOTOR2006_ECD_TO_ANGLE);
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}
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u->cmd =c;
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return 0;
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}
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int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle)
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{
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int8_t cnt=0;
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fp32 angle ,delta;
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angle = f->ecd;
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if (f->init_cnt < 50) {
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f->orig_angle= angle;
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f->last_angle = angle;
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f->init_cnt++;
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return 0;
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}
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delta = angle - f->last_angle;
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if (delta > 4096) {
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f->round_cnt--;
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} else if (delta < -4096) {
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f->round_cnt++;
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}
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f->last_angle = angle;
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f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle;
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}
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/*
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这里id范围为1-4，
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*/
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int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle)
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{
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fp32 delta_angle,delta_speed;
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delta_angle = PID_calc(Angle_pid , f->total_angle , target_angle);
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delta_speed = PID_calc(Speed_pid , f->rpm , delta_angle);
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u->final_out .DJfinal_out [id-CAN2_G3508_ID-1]=delta_speed;
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return 0;
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}
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int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed)
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{
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fp32 delta_speed;
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delta_speed = PID_calc(Speed_pid , f->rpm , target_speed);
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u->final_out .DJfinal_out [id-CAN2_G3508_ID-1]=delta_speed;
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return 0;
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}
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int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
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{
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u->motor_target .VESC_5065_M1_rpm =speed;
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u->motor_target .VESC_5065_M2_rpm =speed;
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u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
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u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
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return 0;
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}
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/*go电机控制*/
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int8_t GO_SendData(UP_t *u, float pos, float limit)
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{
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static int is_calibration=0;
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static fp32 error=0; //误差量
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u->motorfeedback .go_data = get_GO_measure_point() ;
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// 读取参数
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float tff = u->go_cmd.T; // 前馈力矩
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float kp = u->go_cmd.K_P; // 位置刚度
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float kd = u->go_cmd.K_W; // 速度阻尼
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float q_desired = u->go_cmd.Pos; // 期望位置（rad）
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float q_current = u->motorfeedback.go_data->Pos; // 当前角度位置（rad）
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float dq_desired = u->go_cmd.W; // 期望角速度（rad/s）
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float dq_current = u->motorfeedback.go_data->W; // 当前角速度（rad/s）
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// 计算输出力矩 tau
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float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
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/*限制最大输入来限制最大输出*/
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if (pos - q_current > limit) {
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u->go_cmd.Pos = q_current + limit; // 限制位置
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}else if (pos - q_current < -limit) {
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u->go_cmd.Pos = q_current - limit; // 限制位置
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}else {
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u->go_cmd.Pos = pos; // 允许位置
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}
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// 发送数据
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GO_M8010_send_data(&u->go_cmd);
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return 0;
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}
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int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
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{
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//电机控制 ，传进can
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DJ_Angle_Control(u,0x205,&u->motorfeedback .DJmotor_feedback[4] ,
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&u->pid .Shoot_M2006angle ,
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&u->pid .Shoot_M2006speed ,
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u->motor_target .Shoot_M2006_angle );
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DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed,
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(PID_calc (&(u->pid .Pitch_M2006_angle ),
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u->motorfeedback .Encoder.angle,u->motor_target .Shoot_Pitch_angle))
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);
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GO_SendData(u,
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u->motor_target .go_shoot,
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u->Pitch_Cfg .PitchConfig .pull_speed );//对应的拉动速度
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for(int i=0;i<4;i++){
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out ->motor_UP3508_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ;
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}
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for(int i=0;i<2;i++){
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out ->motor_UP3508_shoot.as_array[i]=u->final_out.DJfinal_out [i+4] ;
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}
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out ->chassis5065 .erpm [0]= u->final_out .final_VESC_5065_M1out ;
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out ->chassis5065 .erpm [1]= -u->final_out .final_VESC_5065_M2out ;
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return 0;
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}
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int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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{
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if(u ==NULL) return 0;
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if(out ==NULL) return 0;
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if(c ==NULL) return 0;
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/*指针简化*/
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PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig;
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up_motor_target_t *target=&u->motor_target ;
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static int is_pitch=1;
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/*config值限位*/
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abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f);
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switch (c->CMD_CtrlType )
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{
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case RCcontrol: //在手动模式下
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switch (c-> CMD_mode )
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{
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case Normal :
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/*投篮*/
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if(is_pitch){
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target->go_shoot =pitch_cfg->go_init ;
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target->Shoot_Pitch_angle=pitch_cfg->Pitch_angle;
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is_pitch=0;
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} //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删
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target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ;
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u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
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break;
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case Pitch :
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if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE)
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{
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u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮
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}
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Pitch_Process(u,out);
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break ;
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case UP_Adjust: //测试用
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pitch_cfg ->pull_speed=5;
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pitch_cfg ->go_release_pos += c->Vx ;
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pitch_cfg->Pitch_angle += c->Vy/100;
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target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos;
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target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle;
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break ;
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default:
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break;
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}
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case AUTO:
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switch(c-> CMD_mode)
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{
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case AUTO_MID360_Pitch:
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pitch_cfg ->go_init=LowPassFilter2p_Apply(&u->filled[0],c->pos);
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if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE)
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{
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u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮
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}
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/*根据距离实时计算所需pos*/
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pitch_cfg ->go_release_pos=c->pos;
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Pitch_Process(u,out);
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break ;
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case AUTO_MID360:
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target->Shoot_M2006_angle =pitch_cfg ->m2006_init ;
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u->Pitch_Cfg .PitchState = PITCH_PREPARE;
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break ;
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}
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return 0;
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}
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}
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
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{
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PitchCfg_t *cfg = &u->Pitch_Cfg.PitchConfig;
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PitchState_t *state =&u->Pitch_Cfg .PitchState;
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up_motor_target_t *target=&u->motor_target ;
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switch(*state){
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case PITCH_START:
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// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动
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cfg->pull_speed=10;
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target->go_shoot = cfg->go_pull_pos;
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if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改
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target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0
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u->Pitch_Cfg .PitchConfig .pull_speed=6;
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*state=PITCH_PULL_TRIGGER;
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}//更改标志位
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break ;
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case PITCH_PULL_TRIGGER:
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if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
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{
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target->go_shoot=cfg->go_release_pos;
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if(is_reached (u->motorfeedback .go_data ->Pos ,target->go_shoot ,1.0f))
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{
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*state=PITCH_LAUNCHING;
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}
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}
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break ;
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case PITCH_LAUNCHING: //等待发射
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// *state=PITCH_COMPLETE;
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break ;
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case PITCH_COMPLETE: //发射完成
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break ;
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}
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return 0;
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}
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