83 lines
1.3 KiB
C
83 lines
1.3 KiB
C
#include "config.h"
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#include "string.h"
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#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
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#ifdef DEBUG
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Config_Param_t config = {
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#else
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static const Config_Param_t config = {
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#endif
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.chassis = {
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/* DJI3508µç»ú*/
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.motor_param = {
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{
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.can = BSP_CAN_1,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x204,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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},
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.type = CHASSIS_TYPE_MECANUM,
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/* PID */
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.pid = {
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/* µ×Å̵ç»ú PID */
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.motor_pid_param = {
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.k = 0.0015f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f,
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},
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},
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.low_pass_cutoff_freq = {
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.in = 50.0f,
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.out = 50.0f,
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}
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}
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};
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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Config_Param_t *Config_GetRobotParam(void)
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{
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return &config;
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}
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