161 lines
3.9 KiB
C
161 lines
3.9 KiB
C
#include "up_utils.h"
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#include "up.h"
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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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/*go电机控制*/
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int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, float limit)
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{
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*go_data = *get_GO_measure_point() ;
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// 读取参数
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float tff = go_cmd->T; // 前馈力矩
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float kp = go_cmd->K_P; // 位置刚度
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float kd = go_cmd->K_W; // 速度阻尼
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float q_desired = go_cmd->Pos; // 期望位置（rad）
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float q_current = go_data->Pos; // 当前角度位置（rad）
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float dq_desired = go_cmd->W; // 期望角速度（rad/s）
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float dq_current = 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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go_cmd->Pos = q_current + limit; // 限制位置
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}else if (pos - q_current < -limit) {
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go_cmd->Pos = q_current - limit; // 限制位置
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}else {
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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(go_cmd);
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return 0;
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}
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// 计算58度曲线
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static float curve_58(float d) {
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return 0.448f * d * d + 24.8604f * d - 177.99552f;
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}
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// 计算66度曲线
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static float curve_66(float d) {
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return 8.84935f * d * d - 10.5424f * d - 126.791f;
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}
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/*
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曲线切换,用于距离和pos拟合
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迟滞区x-y
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曲线x重合区，根据当前函数和变化方向切换
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*/
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float CurveChange(float d, float x, float y, CurveType *cs)
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{
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if (*cs == CURVE_66) {
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if (d > y) {
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*cs = CURVE_58;
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}
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} else { // CURVE_58
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if (d < x) {
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*cs = CURVE_66;
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}
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}
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// 根据当前曲线返回结果
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if (*cs == CURVE_58) {
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return curve_58(d);
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} else {
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return curve_66(d);
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}
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}
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int8_t Pass_Sequence_Check(UP_t *u, CMD_t *c) //按键顺序检测，传球，按需求改
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{
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PassState_t *state = &u->PassContext.PassState;
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static enum {
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SEQ_IDLE,
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SEQ_MID1,
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SEQ_UP,
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SEQ_MID2,
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SEQ_DOWN
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} seq = SEQ_IDLE;
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switch (seq) {
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case SEQ_IDLE:
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if (c->CMD_mode == PB_MID) {
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seq = SEQ_MID1;
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*state = PASS_IDLE;
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}
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break;
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case SEQ_MID1:
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if (c->CMD_mode == PB_UP) {
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seq = SEQ_UP;
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*state = PASS_PREPARE;
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} else if (c->CMD_mode != PB_MID) {
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seq = SEQ_IDLE;
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*state = PASS_STOP;
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}
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break;
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case SEQ_UP:
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if (c->CMD_mode == PB_MID) {
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seq = SEQ_MID2;
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*state = PASS_START;
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} else if (c->CMD_mode != PB_UP) {
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seq = SEQ_IDLE;
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*state = PASS_STOP;
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}
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break;
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case SEQ_MID2:
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if (c->CMD_mode == PB_DOWN) {
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seq = SEQ_DOWN;
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*state = PASS_POS_PREPARE;
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} else if (c->CMD_mode != PB_MID) {
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seq = SEQ_IDLE;
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*state = PASS_STOP;
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}
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break;
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case SEQ_DOWN:
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if (c->CMD_mode == PB_MID) {
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seq = SEQ_IDLE;
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*state = PASS_IDLE; // 或 PASS_COMPLETE，看你需求
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} else if (c->CMD_mode != PB_DOWN) {
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seq = SEQ_IDLE;
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*state = PASS_STOP;
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}
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break;
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}
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return 0;
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}
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