152 lines
4.8 KiB
C
152 lines
4.8 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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#define GEAR_RATIO (36) // 2006减速比
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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编码值转轴角度
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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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GO_M8010_init();
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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 .M2006_angle ,PID_POSITION ,&(u->param->M2006_angle_param ));
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PID_init (&u->pid .M2006_speed ,PID_POSITION ,&(u->param->M2006_speed_param ));
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PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
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PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
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for(int i=0;i<3;i++){
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PID_init (&u->pid .M3508_speed[i] ,PID_POSITION ,&(u->param ->M3508_speed_param ));
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}
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}
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int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can) {
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u->motorfeedback .M2006_angle=can ->motor .motor3508 .as_array [0].rotor_ecd ;
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u->motorfeedback .M2006_rpm =can ->motor .motor3508 . as_array [0].rotor_speed ;
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u->motorfeedback .VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
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u->motorfeedback .VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
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u->motorfeedback .rotor_pit6020ecd =can ->motor .chassis6020.as_array [2].rotor_ecd ;
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u->motorfeedback .rotor_pit6020rpm =can ->motor .chassis6020.as_array [2].rotor_speed ;
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for(int i=0;i<3;i++){
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u->motorfeedback .M3508_speed[i] =can ->motor .motor3508 .as_array [i+1].rotor_speed ;
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}
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}
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int8_t cnt=0;
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/*上层电机控制*/
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int8_t UP_M2006_angle(UP_t *u, fp32 target_angle) {
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// 获取当前编码器角度
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float angle = u->motorfeedback.M2006_angle;
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// 初始化阶段：前50次循环记录初始值
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if (u->M2006.init_cnt < 50) {
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u->M2006.orig_angle = angle; // 记录初始编码器值
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u->M2006.last_angle = angle; // 初始化上一次角度
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u->M2006.init_cnt++; // 初始化计数器递增
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return 0; // 初始化阶段不执行控制
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}
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// 计算角度差值（处理编码器溢出）
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float delta = angle - u->M2006.last_angle;
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if (delta > 4096) {
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u->M2006.round_cnt--; // 逆时针跨圈
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} else if (delta < -4096) {
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u->M2006.round_cnt++; // 顺时针跨圈
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}
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u->M2006.last_angle = angle;
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// 计算总角度（基于初始偏移和圈数）
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float total_angle = (u->M2006.round_cnt * 8191 + (angle - u->M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
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u->M2006 .total_angle =total_angle;
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// PID控制计算
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float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
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float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M2006_rpm, delta_angle);
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u->motor_target.M2006_angle = target_angle;
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u->final_out .final_2006out =delta_speed;
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return 0;
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}
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int8_t UP_M3508_speed(UP_t *u,fp32 speed)
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{
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u->motor_target .M3508_speed =speed;
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for(int i=0;i<3;i++){
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u->final_out .final_3508out [i] =
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PID_calc (&(u->pid .M3508_speed[i] ),u->motorfeedback .M3508_speed [i],speed );
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}
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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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}
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int8_t GM6020_control(UP_t *u,fp32 angle)
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{
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fp32 delat_speed;
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Clip(&angle,90,270);
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delat_speed =
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PID_calc (&(u->pid .GM6020_angle ),u->motorfeedback .rotor_pit6020ecd ,(angle /360*8191));
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u->final_out .final_pitchout =
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PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
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u->motor_target .rotor_pit6020angle =angle ;
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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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out ->motor3508 .as_array [0]=u->final_out .final_2006out ;
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for(int i=1;i<4;i++){
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out ->motor3508 .as_array[i]=u->final_out.final_3508out [i-1] ;
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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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out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
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}
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int8_t UP_control(UP_t *u,CAN_Output_t *out)
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{
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// if(u ==NULL) return 0;
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// if(u ==NULL) return 0;
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// UP_M2006_angle(u,2500);
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switch (u->ctrl)
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{
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case STATE_IDLE : break ;
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case STATE_PRE_DRIBBLE : break ;
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case STATE_POST_DRIBBLE : break ;
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case STATE_PRE_LAUNCH : break ;
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case STATE_POST_LAUNCH : break ;
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}
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}
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