From 07fd423f20e0fa9efb20539268f7ba95cab0b4ea Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Fri, 27 Jun 2025 13:46:55 +0800 Subject: [PATCH] =?UTF-8?q?=E8=83=BD=E8=B5=B0=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 6 +- MDK-ARM/CtrBoard-H7_ALL.uvoptx | 88 +- MDK-ARM/CtrBoard-H7_ALL.uvprojx | 19 +- MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf | Bin 2457480 -> 2466328 bytes MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex | 8848 ++++++++++--------- User/bsp/mm.c | 14 + User/bsp/mm.h | 20 + User/component/bezier_curve.c | 24 - User/component/bezier_curve.h | 20 - User/component/cmd.c | 78 +- User/component/cmd.h | 4 + User/component/kinematics.c | 11 +- User/component/limiter.h | 3 +- User/component/path.c | 62 + User/component/path.h | 58 + User/module/chassis.c | 283 +- User/module/chassis.h | 5 +- User/module/config.c | 2 +- 18 files changed, 4959 insertions(+), 4586 deletions(-) create mode 100644 User/bsp/mm.c create mode 100644 User/bsp/mm.h delete mode 100644 User/component/bezier_curve.c delete mode 100644 User/component/bezier_curve.h create mode 100644 User/component/path.c create mode 100644 User/component/path.h diff --git a/.vscode/settings.json b/.vscode/settings.json index 352e893..595eb20 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -4,6 +4,10 @@ "ahrs.h": "c", "string.h": "c", "user_math.h": "c", - "__locale": "c" + "__locale": "c", + "kinematics.h": "c", + "bezier_curve.h": "c", + "queue": "c", + "stack": "c" } } \ No newline at end of file diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx index 77b25e0..8434cf2 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx @@ -183,18 +183,8 @@ 5 1 - angle_pose - - - 6 - 1 chassis_cmd - - 7 - 1 - target_pose - 0 @@ -1293,8 +1283,32 @@ 0 0 0 - ..\User\component\bezier_curve.c - bezier_curve.c + ..\User\component\kinematics.c + kinematics.c + 0 + 0 + + + 10 + 82 + 1 + 0 + 0 + 0 + ..\User\component\path.c + path.c + 0 + 0 + + + 10 + 83 + 1 + 0 + 0 + 0 + ..\User\bsp\mm.c + mm.c 0 0 @@ -1308,7 +1322,7 @@ 0 11 - 82 + 84 1 0 0 @@ -1320,7 +1334,7 @@ 11 - 83 + 85 1 0 0 @@ -1332,7 +1346,7 @@ 11 - 84 + 86 1 0 0 @@ -1344,7 +1358,7 @@ 11 - 85 + 87 1 0 0 @@ -1364,19 +1378,7 @@ 0 12 - 86 - 1 - 0 - 0 - 0 - ..\User\component\kinematics.c - kinematics.c - 0 - 0 - - - 12 - 87 + 88 1 0 0 @@ -1388,7 +1390,7 @@ 12 - 88 + 89 1 0 0 @@ -1408,7 +1410,7 @@ 0 13 - 89 + 90 1 0 0 @@ -1420,7 +1422,7 @@ 13 - 90 + 91 1 0 0 @@ -1432,7 +1434,7 @@ 13 - 91 + 92 1 0 0 @@ -1444,7 +1446,7 @@ 13 - 92 + 93 5 0 0 @@ -1456,7 +1458,7 @@ 13 - 93 + 94 1 0 0 @@ -1468,7 +1470,7 @@ 13 - 94 + 95 1 0 0 @@ -1480,7 +1482,7 @@ 13 - 95 + 96 1 0 0 @@ -1492,7 +1494,7 @@ 13 - 96 + 97 1 0 0 @@ -1504,7 +1506,7 @@ 13 - 97 + 98 1 0 0 @@ -1516,7 +1518,7 @@ 13 - 98 + 99 1 0 0 @@ -1528,7 +1530,7 @@ 13 - 99 + 100 1 0 0 @@ -1548,7 +1550,7 @@ 0 14 - 100 + 101 1 0 0 @@ -1560,7 +1562,7 @@ 14 - 101 + 102 1 0 0 diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx index 95adbae..4935f63 100644 --- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx +++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx @@ -1459,9 +1459,19 @@ ..\User\component\limiter.c - bezier_curve.c + kinematics.c 1 - ..\User\component\bezier_curve.c + ..\User\component\kinematics.c + + + path.c + 1 + ..\User\component\path.c + + + mm.c + 1 + ..\User\bsp\mm.c @@ -1493,11 +1503,6 @@ User/module - - kinematics.c - 1 - ..\User\component\kinematics.c - chassis.c 1 diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf index 10fcbfa67378ee3de51ccec08fb4438d3f4af7ba..ea53ccc8eef48a2ea0c7f183305ee8a1e5cfca6d 100644 GIT binary patch delta 140437 zcmeFac~}(3_Ap#k-80h+i^C$|fMggD5to1~;>P9(h~k2gM5CZ+z!jAkG)BOD4Ut~ZSMIvvcLszxf&`E`afBhQ? z|2&Qad=~1xk+6#3%^4lN-cCRQg8vTlNO}3VuUDMF5!k;Y$aditKp$_wbM&(4AaUwL zLooVdh#1GM_4k#gubk1%SIS=b3jDsjG6#MquN1Fx^ZNQq|FmPt&A}ruP^hmo)E*z4 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+:1042C000E71B08EB04C11A3D281AFD1C1A7D081AC9 +:1042D000F10801781AAA01C117022B073DB8018223 +:1042E000200C372039019CE5CDCCCC3D6009404005 +:1042F000CDCC4C3E010210230AD7A33C48E14AC072 +:10430000B2FCFDC10AD7AB407B1416414F271C42BB +:10431000666696401F8583C0111D4812C2666636C8 +:1043200040C3F52C41ABB618425C8FCA40040B2247 +:104330004A410C3142BF4D9A99993F0C0F1920C048 +:10434000666626C01819101B20400C4A400C392400 +:10435000292C0913182D3255B03DD029041CC3F562 +:1043600048045AA8F01A80243904193C79046910C9 +:10437000091208590401101A20C4A944A1720100AD +:0C43800001FF01FF01FF01FF01FF0149E7 :04000005080002CD20 :00000001FF diff --git a/User/bsp/mm.c b/User/bsp/mm.c new file mode 100644 index 0000000..62e9b87 --- /dev/null +++ b/User/bsp/mm.c @@ -0,0 +1,14 @@ +/* Includes ----------------------------------------------------------------- */ +#include "bsp/mm.h" + +#include "FreeRTOS.h" + +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +/* Private function -------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); } + +inline void BSP_Free(void *pv) { vPortFree(pv); } diff --git a/User/bsp/mm.h b/User/bsp/mm.h new file mode 100644 index 0000000..57bdcac --- /dev/null +++ b/User/bsp/mm.h @@ -0,0 +1,20 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include +#include + +/* Exported constants ------------------------------------------------------- */ +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ +/* Exported functions prototypes -------------------------------------------- */ +void *BSP_Malloc(size_t size); +void BSP_Free(void *pv); + +#ifdef __cplusplus +} +#endif diff --git a/User/component/bezier_curve.c b/User/component/bezier_curve.c deleted file mode 100644 index a57193a..0000000 --- a/User/component/bezier_curve.c +++ /dev/null @@ -1,24 +0,0 @@ -#include "bezier_curve.h" - -// 三次贝塞尔曲线，二维 -void bezier_curve_3rd(const float p0[2], const float p1[2], const float p2[2], const float p3[2], float t, float out[2]) { - float u = 1.0f - t; - float tt = t * t; - float uu = u * u; - float uuu = uu * u; - float ttt = tt * t; - out[0] = uuu * p0[0] + 3 * uu * t * p1[0] + 3 * u * tt * p2[0] + ttt * p3[0]; - out[1] = uuu * p0[1] + 3 * uu * t * p1[1] + 3 * u * tt * p2[1] + ttt * p3[1]; -} - -// 三次贝塞尔曲线，三维 -void bezier_curve_3rd_3d(const float p0[3], const float p1[3], const float p2[3], const float p3[3], float t, float out[3]) { - float u = 1.0f - t; - float tt = t * t; - float uu = u * u; - float uuu = uu * u; - float ttt = tt * t; - for (int i = 0; i < 3; ++i) { - out[i] = uuu * p0[i] + 3 * uu * t * p1[i] + 3 * u * tt * p2[i] + ttt * p3[i]; - } -} \ No newline at end of file diff --git a/User/component/bezier_curve.h b/User/component/bezier_curve.h deleted file mode 100644 index 3e89de9..0000000 --- a/User/component/bezier_curve.h +++ /dev/null @@ -1,20 +0,0 @@ -/* - 各类滤波器。 -*/ - -#pragma once - -#ifdef __cplusplus -extern "C" { -#endif - -// 三次贝塞尔曲线，二维 -void bezier_curve_3rd(const float p0[2], const float p1[2], const float p2[2], const float p3[2], float t, float out[2]); - -// 三次贝塞尔曲线，三维 -void bezier_curve_3rd_3d(const float p0[3], const float p1[3], const float p2[3], const float p3[3], float t, float out[3]); - - -#ifdef __cplusplus -} -#endif diff --git a/User/component/cmd.c b/User/component/cmd.c index 5728d8f..0101576 100644 --- a/User/component/cmd.c +++ b/User/component/cmd.c @@ -20,36 +20,78 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) { /* 左拨杆相应行为选择和解析 */ case CMD_SW_UP: cmd->chassis.mode = CHASSIS_MODE_RELAX; + switch (rc->sw_r) { + /* 右拨杆相应行为选择和解析*/ + case CMD_SW_UP: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_MID: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_DOWN: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_ERR: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + } break; case CMD_SW_MID: cmd->chassis.mode = CHASSIS_MODE_DAMP; + switch (rc->sw_r) { + /* 右拨杆相应行为选择和解析*/ + case CMD_SW_UP: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_MID: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_DOWN: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_ERR: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + } break; case CMD_SW_DOWN: - cmd->chassis.mode = CHASSIS_MODE_RECOVER; + cmd->chassis.mode = CHASSIS_MODE_POSITION; + switch (rc->sw_r) { + /* 右拨杆相应行为选择和解析*/ + case CMD_SW_UP: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_MID: + cmd->chassis.action = CHASSIS_ACTION_STAND; + break; + case CMD_SW_DOWN: + cmd->chassis.action = CHASSIS_ACTION_TROT; + break; + case CMD_SW_ERR: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + } break; case CMD_SW_ERR: cmd->chassis.mode = CHASSIS_MODE_RELAX; - break; - } - switch (rc->sw_r) { + switch (rc->sw_r) { /* 右拨杆相应行为选择和解析*/ - case CMD_SW_UP: - cmd->chassis.action = CHASSIS_ACTION_NONE; - break; - - case CMD_SW_MID: - cmd->chassis.action = CHASSIS_ACTION_NONE; - break; - - case CMD_SW_DOWN: - cmd->chassis.action = CHASSIS_ACTION_NONE; - break; - - case CMD_SW_ERR: - cmd->chassis.action = CHASSIS_ACTION_NONE; + case CMD_SW_UP: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_MID: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_DOWN: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + case CMD_SW_ERR: + cmd->chassis.action = CHASSIS_ACTION_NONE; + break; + } break; } /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */ diff --git a/User/component/cmd.h b/User/component/cmd.h index d41d956..64be79e 100644 --- a/User/component/cmd.h +++ b/User/component/cmd.h @@ -18,6 +18,7 @@ typedef enum { CHASSIS_MODE_DAMP, /* 阻尼模式，电机闭环控制保持阻尼，用于安全模式放松 */ CHASSIS_MODE_RECOVER, /* 恢复模式，电机闭环控制恢复到初始位置。用于机器人上电后恢复到初始位置 */ CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */ + CHASSIS_MODE_POSITION, /* 位置模式，电机闭环控制保持在指定位置 */ CHASSIS_MODE_FOLLOW, /* 通过闭环控制使车头方向跟随遥控器 */ } CMD_ChassisMode_t; @@ -25,6 +26,9 @@ typedef enum { CHASSIS_ACTION_NONE, /* 无动作 */ CHASSIS_ACTION_STAND, /* 站立动作 */ CHASSIS_ACTION_WALK, /* 行走动作 */ + CHASSIS_ACTION_TROT, /* 小跑动作 */ + CHASSIS_ACTION_JUMP, /* 跳跃动作 */ + CHASSIS_ACTION_RUN, CHASSIS_ACTION_NUM, }CMD_ChassisAction_t; diff --git a/User/component/kinematics.c b/User/component/kinematics.c index 4933dc5..b9f62f6 100644 --- a/User/component/kinematics.c +++ b/User/component/kinematics.c @@ -84,6 +84,10 @@ void Kinematics_ForwardKinematics(const float theta_in[3], const Kinematics_Link int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_LinkLength_t *leg_params, float theta_out[3], Kinematics_Sign_t *sign) { float px = foot_in[0]; float py = -foot_in[1]; + if (sign->hip != sign->thigh){ + py = foot_in[1]; + } + float pz = foot_in[2]; float b2y = leg_params->hip * sign->hip; @@ -101,12 +105,7 @@ int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_Lin float q3 = q3_ik(b3z, b4z, b); float q2 = q2_ik(q1, q3, px, py, pz, b3z, b4z); - // theta_out[0] = q1; - if (sign->hip == sign->thigh){ - theta_out[0] = q1; - } else { - theta_out[0] = -q1; - } + theta_out[0] = q1; theta_out[1] = q2 * sign->thigh; theta_out[2] = q3 * sign->calf; return 0; diff --git a/User/component/limiter.h b/User/component/limiter.h index c584ff1..97bc6b9 100644 --- a/User/component/limiter.h +++ b/User/component/limiter.h @@ -11,10 +11,11 @@ extern "C" { #include #include - int8_t Limit_ChassicOutput(const float feedback_pos ,float *out_pos, float max_speed, float max_angle, float min_angle); + + #ifdef __cplusplus } #endif \ No newline at end of file diff --git a/User/component/path.c b/User/component/path.c new file mode 100644 index 0000000..3e88732 --- /dev/null +++ b/User/component/path.c @@ -0,0 +1,62 @@ +/* + 一些路径生成器 +*/ + +#include "path.h" + +/** + * @brief 生成一条直线段的路径点 + * @param start 起始点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Straight2d(float start[2], float end[2], float t, float out[2]){ + out[0] = start[0] + (end[0] - start[0]) * t; // x坐标插值 + out[1] = start[1] + (end[1] - start[1]) * t; // y坐标插值 +} + +/** + * @brief 生成一条三维直线段的路径点 + * @param start 起始点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_straight3d(float start[3], float end[3], float t, float out[3]){ + out[0] = start[0] + (end[0] - start[0]) * t; // x坐标插值 + out[1] = start[1] + (end[1] - start[1]) * t; // y坐标插值 + out[2] = start[2] + (end[2] - start[2]) * t; // z坐标插值 +} + +/** + * @brief 生成一条二次贝塞尔曲线的路径点 + * @param start 起始点 + * @param mid 中间控制点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Bezier2d(float start[2], float mid[2], float end[2], float t, float out[2]){ + float t1 = 1 - t; // 计算1-t + out[0] = t1 * t1 * start[0] + 2 * t1 * t * mid[0] + t * t * end[0]; // x坐标插值 + out[1] = t1 * t1 * start[1] + 2 * t1 * t * mid[1] + t * t * end[1]; // y坐标插值 +} + +/** + * @brief 生成一条三次贝塞尔曲线的路径点 + * @param start 起始点 + * @param mid1 中间控制点1 + * @param mid2 中间控制点2 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Bezier3d(float start[3], float mid1[3], float mid2[3], float end[3], float t, float out[3]){ + float t1 = 1 - t; // 计算1-t + out[0] = t1 * t1 * t1 * start[0] + 3 * t1 * t1 * t * mid1[0] + 3 * t1 * t * t * mid2[0] + t * t * t * end[0]; // x坐标插值 + out[1] = t1 * t1 * t1 * start[1] + + 3 * t1 * t1 * t * mid1[1] + 3 * t1 * t * t * mid2[1] + t * t * t * end[1]; // y坐标插值 + out[2] = t1 * t1 * t1 * start[2] + + 3 * t1 * t1 * t * mid1[2] + 3 * t1 * t * t * mid2[2] + t * t * t * end[2]; // z坐标插值 +} diff --git a/User/component/path.h b/User/component/path.h new file mode 100644 index 0000000..5759e4e --- /dev/null +++ b/User/component/path.h @@ -0,0 +1,58 @@ +/* + 一些路径生成器 +*/ + +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +#include +#include + +/** + * @brief 生成一条直线段的路径点 + * @param start 起始点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Straight2d(float start[2], float end[2], float t, float out[2]); + +/** + * @brief 生成一条三维直线段的路径点 + * @param start 起始点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_straight3d(float start[3], float end[3], float t, float out[3]); + +/** + * @brief 生成一条二次贝塞尔曲线的路径点 + * @param start 起始点 + * @param mid 中间控制点 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Bezier2d(float start[2], float mid[2], float end[2], float t, float out[2]); + +/** + * @brief 生成一条三次贝塞尔曲线的路径点 + * @param start 起始点 + * @param mid1 中间控制点1 + * @param mid2 中间控制点2 + * @param end 结束点 + * @param t 时间路径点，范围[0, 1] + * @param out 输出路径点 + */ +void Path_Bezier3d(float start[3], float mid1[3], float mid2[3], float end[3], float t, float out[3]); + + + + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/User/module/chassis.c b/User/module/chassis.c index f8ab5a1..13d5a5c 100644 --- a/User/module/chassis.c +++ b/User/module/chassis.c @@ -8,15 +8,16 @@ #include #include "cmsis_os2.h" -// #include "component/limiter.h" #include "device/go.h" #include "component/limiter.h" +#include "component/kinematics.h" +#include "component/path.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ -/*底盘默认高度*/ #define CHASSIS_DEFAULT_HEIGHT (0.2f) /* 底盘默认高度，单位：米 */ -#define CHASSIS_MAX_SPEED (0.03f) + +#define CHASSIS_MAX_SPEED (0.03f) /*调试用速度限幅*/ /* Private macro ------------------------------------------------------------ */ @@ -42,40 +43,40 @@ static Kinematics_JointCMD_t position_mode = { .T = 0.0f, /* 零力矩 */ .W = 0.0f, /* 零速度 */ .Pos = 0.0f, /* 零位置 */ - .K_P = 1.0f, /* 刚度系数 */ - .K_W = 0.1f, /* 速度系数 */ + .K_P = 3.0f, /* 刚度系数 */ + .K_W = 0.2f, /* 速度系数 */ }; -static uint8_t chassis_mode_states = 0; -static uint8_t chassis_action_states = 0; +// static uint8_t chassis_mode_states = 0; +// static uint8_t chassis_action_states = 0; +static uint8_t stage = 0; /* Private function -------------------------------------------------------- */ /** - * \brief 设置底盘模式 + * \brief 设置底盘运行模式 * * \param c 包含底盘数据的结构体 * \param mode 要设置的模式 * * \return 函数运行结果 */ -// static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisMode_t mode, -// uint32_t now) { -// if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */ -// if (mode == c->mode) return CHASSIS_OK; /* 模式未改变直接返回 */ +static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisCmd_t *c_cmd) { + if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */ + if (c_cmd == NULL) return CHASSIS_ERR_NULL; /* 控制指令不能为空 */ -// if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) { -// srand(now); -// c->wz_multi = (rand() % 2) ? -1 : 1; -// } -// /* 切换模式后重置PID和滤波器 */ -// for (uint8_t i = 0; i < c->num_wheel; i++) { -// PID_Reset(c->pid.motor + i); -// LowPassFilter2p_Reset(c->filter.in + i, 0.0f); -// LowPassFilter2p_Reset(c->filter.out + i, 0.0f); -// } -// c->mode = mode; - -// return CHASSIS_OK; -// } + if (c->mode != c_cmd->mode) { /* 如果当前模式和要设置的模式不同 */ + c->mode = c_cmd->mode; /* 更新底盘模式 */ + stage = 0; /* 重置阶段 */ + c->time = 0.0f; /* 重置时间 */ + c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */ + } + if (c->action != c_cmd->action) { /* 如果当前动作和要设置的动作不同 */ + c->action = c_cmd->action; /* 更新底盘动作 */ + stage = 0; /* 重置阶段 */ + c->time = 0.0f; /* 重置时间 */ + c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */ + } + return CHASSIS_OK; +} /* Exported functions ------------------------------------------------------- */ @@ -94,10 +95,25 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param, c->param = param; /* 初始化参数 */ c->mode = CHASSIS_MODE_RELAX; /* 设置上电后底盘默认模式 */ - c->height = CHASSIS_DEFAULT_HEIGHT; /* 设置底盘默认高度为0.2米 */ - + + c->pid.motor_id = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->pid.motor_id)); + if (c->pid.motor_id == NULL) goto error; + + c->filter.in = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.in)); + if (c->filter.in == NULL) goto error; + + c->filter.out = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.out)); + if (c->filter.out == NULL) goto error; + return CHASSIS_OK; /* 返回成功 */ + +error: + /* 动态内存分配错误时，释放已经分配的内存，返回错误值 */ + BSP_Free(c->pid.motor_id); + BSP_Free(c->filter.in); + BSP_Free(c->filter.out); + return CHASSIS_ERR_NULL; } /** @@ -123,92 +139,163 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now c->dt = (float)(now - c->lask_wakeup) / 1000.0f; c->lask_wakeup = now; - c->mode = c_cmd->mode; /* 设置底盘模式 */ - + c->time += c->dt; /* 更新用于生成动作的时间 */ + // while (c->time > 1.0f) { c ->time -= 1.0f; } /* 保持时间在0-1秒之间 */ + Chassis_SetMode(c, c_cmd); /* 设置底盘模式和动作 */ switch (c->mode) { case CHASSIS_MODE_RELAX: /* 放松模式，电机不输出 */ c->output = (GO_ChassisCMD_t){0}; /* 清空输出 */ - chassis_mode_states = CHASSIS_MODE_RELAX; /* 更新状态 */ + c->mode = CHASSIS_MODE_RELAX; /* 更新状态 */ + c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */ + c->time = 0.0f; /* 重置时间 */ break; case CHASSIS_MODE_DAMP: /* 阻尼模式，电机闭环控制保持阻尼，用于安全模式放松 */ for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { c->output.id[i] = damping_torque; /* 设置阻尼力矩 */ } - chassis_mode_states = CHASSIS_MODE_DAMP; /* 更新状态 */ + c->mode = CHASSIS_MODE_DAMP; /* 更新状态 */ + c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */ + c->time = 0.0f; /* 重置时间 */ break; - case CHASSIS_MODE_RECOVER: /* 恢复模式，电机闭环控制恢复到初始位置。用于机器人上电后恢复到初始位置 */ - if (chassis_mode_states != CHASSIS_MODE_RECOVER){ - for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { - if (i % 3 == 0) { /* 每三个电机一个组 */ - c->output.id[i].K_P = 1.0; - c->output.id[i].K_W = 0.1; /* 设置刚度系数和速度系数 */ - c->output.id[i].Pos = 0.0f; /* 设置位置为零 */ - c->output.id[i].T = 0.0f; /* 设置力矩为零 */ - c->output.id[i].W = 0.0f; /* 设置速度为零 */ - } - else { - // c->output.id[i] = damping_torque; /* 设置阻尼力矩 */ - c->output.id[i] = position_mode; /* 设置位置模式 */ - } + case CHASSIS_MODE_POSITION:{ + for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { + c->output.id[i] = position_mode; /* 设置位置模式 */} - // c->output.named.lf_thigh.Pos = 1.0f; /* 左前腿大腿位置 */ - // c->output.named.lf_calf.Pos = 2.0f; /* 左前腿小腿位置 */ - // c->output.named.rf_thigh.Pos = -1.0f; /* 右前腿大腿位置 */ - // c->output.named.rf_calf.Pos = -2.0f; /* 右前腿小腿位置 */ - // c->output.named.lr_thigh.Pos = 1.0f; /* 左后腿大腿位置 */ - // c->output.named.lr_calf.Pos = 2.0f; /* 左后腿小腿位置 */ - // c->output.named.rr_thigh.Pos = -1.0f; /* 右后腿大腿位置 */ - // c->output.named.rr_calf.Pos = -2.0f; /* 右后腿小腿位置 */ - c->output.named.lf_thigh.Pos = c->height * 5; - c->output.named.lf_calf.Pos = c->height * 10; - c->output.named.rf_thigh.Pos = -c->height * 5; - c->output.named.rf_calf.Pos = -c->height * 10; - c->output.named.lr_thigh.Pos = c->height * 5; - c->output.named.lr_calf.Pos = c->height * 10; - c->output.named.rr_thigh.Pos = -c->height * 5; - c->output.named.rr_calf.Pos = -c->height * 10; - chassis_mode_states = CHASSIS_MODE_RECOVER; /* 更新状态 */ + switch (c->action) { + case CHASSIS_ACTION_NONE:{ + for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { + c->output.id[i].Pos = c->feedback.id[i].Pos;} + c->mode = CHASSIS_MODE_POSITION; + c->action = CHASSIS_ACTION_NONE; + c->time = 0.0f; /* 重置时间 */ + break; } - break; + + case CHASSIS_ACTION_STAND:{ + c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */ + for (uint8_t i = 0; i < GO_MOTOR_NUM/3; i++) { + if (i % 2 == 0) { /* 左前腿和右后腿 */ + float target_pose[3] = {0.0, -0.0861, -c->height}; + float angle_pose[3]; + Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]); + c->output.id[i * 3].Pos = angle_pose[0]; /* 左前腿髋关节 */ + c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 左前腿大腿 */ + c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 左前腿小腿 */ + } else { + float target_pose[3] = {0.0, 0.0861, -c->height}; /* 右前腿和左后腿 */ + float angle_pose[3]; + Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]); + c->output.id[i * 3].Pos = angle_pose[0]; /* 右前腿髋关节 */ + c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 右前腿大腿 */ + c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 右前腿小腿 */ + } + } + break; + } /* 站立动作 */ + + case CHASSIS_ACTION_WALK:{ + c->height = c->height + c_cmd->delta_hight * c->dt; + float T = 2.0f; // 步态周期(s) + float swing_height = 0.15f; // 摆动腿抬高高度 + float stride_x = c_cmd->ctrl_vec.vx * T; // x方向步幅 + float stride_y = c_cmd->ctrl_vec.vy * T; // y方向步幅 + float wz = c_cmd->ctrl_vec.wz; // 旋转速度 + + uint8_t swing_leg = (uint8_t)(c->time / (T / 4)) % 4; // 当前摆动腿编号 + float t_phase = fmodf(c->time, T / 4) / (T / 4); // 当前腿相内归一化时间 + + for (uint8_t leg = 0; leg < 4; leg++) { + float target_pose[3]; + float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f; + float base_x = 0.0f; + + if (leg == swing_leg) { + // 摆动腿：贝塞尔轨迹，抬高并前移 + float start[3] = {base_x - stride_x/2, base_y - stride_y/2, -c->height}; + float mid1[3] = {base_x, base_y, -c->height + swing_height}; + float mid2[3] = {base_x, base_y, -c->height + swing_height}; + float end[3] = {base_x + stride_x/2, base_y + stride_y/2, -c->height}; + Path_Bezier3d(start, mid1, mid2, end, t_phase, target_pose); + } else { + // 支撑腿：3/4周期内走完整步幅的1/3 + // 计算支撑腿在支撑相内的归一化时间 + uint8_t support_leg_index = (leg + 4 - swing_leg) % 4; + float support_phase = fmodf(c->time + (T / 4) * support_leg_index, T) / (T * 3.0f / 4.0f); + if (support_phase > 1.0f) support_phase = 1.0f; + + // 支撑腿分三段，每段1/3步幅 + float seg = support_phase * 3.0f; // [0,3) + int seg_idx = (int)seg; // 0,1,2 + float seg_phase = seg - seg_idx; // [0,1) + + // 每段起止点 + float seg_start_x = base_x + stride_x/2 - stride_x * seg_idx / 3.0f; + float seg_start_y = base_y + stride_y/2 - stride_y * seg_idx / 3.0f; + float seg_end_x = base_x + stride_x/2 - stride_x * (seg_idx+1) / 3.0f; + float seg_end_y = base_y + stride_y/2 - stride_y * (seg_idx+1) / 3.0f; + + Path_straight3d( + (float[3]){seg_start_x, seg_start_y, -c->height}, + (float[3]){seg_end_x, seg_end_y, -c->height}, + seg_phase, target_pose + ); + } + float angle_pose[3]; + Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]); + c->output.id[leg * 3 + 0].Pos = angle_pose[0]; + c->output.id[leg * 3 + 1].Pos = angle_pose[1]; + c->output.id[leg * 3 + 2].Pos = angle_pose[2]; + } + break; + } + + + case CHASSIS_ACTION_TROT:{ + float T = 0.6f; // 步态周期(s) + if (c->time > T) { + c->time -= T; // 保持时间在0-T之间 + } + float stride_x = c_cmd->ctrl_vec.vx / 10.0f; + float stride_y = c_cmd->ctrl_vec.vy / 10.0f; + float swing_height = 0.15f; // 摆动腿抬高高度 + + // 对角腿分组：0-3一组，1-2一组 + for (uint8_t leg = 0; leg < 4; leg++) { + float t_leg = fmodf(c->time + ((leg == 0 || leg == 3) ? 0.0f : T/2), T) / T; // 对角腿相差半周期 + float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f; + float target_pose[3]; + if (t_leg < 0.5f) { + // 摆动相，贝塞尔插值 + float t_bezier = t_leg / 0.5f; + float start[3] = {-stride_x, base_y - stride_y, -c->height}; + float mid1[3] = {0, base_y, -c->height + swing_height}; + float mid2[3] = {0, base_y, -c->height + swing_height}; + float end[3] = {stride_x, base_y + stride_y, -c->height}; + Path_Bezier3d(start, mid1, mid2, end, t_bezier, target_pose); + } else { + // 支撑相，首尾相连，起点为上一个摆动相终点，终点为下一个摆动相起点 + float t_line = (t_leg - 0.5f) / 0.5f; + float start[3] = {stride_x, base_y + stride_y, -c->height}; // 摆动相终点 + float end[3] = {-stride_x, base_y - stride_y, -c->height}; // 下一个摆动相起点 + Path_straight3d(start, end, t_line, target_pose); + } + float angle_pose[3]; + Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]); + c->output.id[leg * 3 + 0].Pos = angle_pose[0]; + c->output.id[leg * 3 + 1].Pos = angle_pose[1]; + c->output.id[leg * 3 + 2].Pos = angle_pose[2]; + } + break; + } + + } - c->output.named.lf_hip.Pos = 0.0f; /* 左前腿髋关节位置 */ - c->output.named.lr_hip.Pos = 0.0f; /* 左后腿髋关节位置 */ - c->output.named.rf_hip.Pos = 0.0f; /* 右前腿髋关节位置 */ - c->output.named.rr_hip.Pos = 0.0f; /* 右后腿髋关节位置 */ - - c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */ - c->output.named.lf_thigh.Pos = c->height * 5; - c->output.named.lf_calf.Pos = c->height * 10; - c->output.named.rf_thigh.Pos = -c->height * 5; - c->output.named.rf_calf.Pos = -c->height * 10; - c->output.named.lr_thigh.Pos = c->height * 5; - c->output.named.lr_calf.Pos = c->height * 10; - c->output.named.rr_thigh.Pos = -c->height * 5; - c->output.named.rr_calf.Pos = -c->height * 10; - chassis_mode_states = CHASSIS_MODE_RECOVER; /* 更新状态 */ - - for (uint8_t i = 0; i < 4; i++) { - float target_pose[3] = {0.0,0.0861,-c->height}; /* 目标位置 */ - float angle_pose[3]; - Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]); /* 逆运动学计算 */ - c->output.id[i * 3].Pos = angle_pose[0]; /* 髋关节位置 */ - c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 大腿位置 */ - c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 小腿位置 */ - } - - // float target_pose[3] = {c_cmd->ctrl_vec.vx/10.0f, c_cmd->ctrl_vec.vy/10.0f, -0.2f}; /* 目标位置 */ - // float target_pose[3] = {0.0,0.0,-0.2}; /* 目标位置 */ - // float angle_pose[3]; - // Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[0]); /* 逆运动学计算 */ - // c->output.named.lf_hip.Pos = angle_pose[0]; /* 左前腿髋关节位置 */ - // c->output.named.lf_thigh.Pos = angle_pose[1]; /* 左前腿大腿位置 */ - // c->output.named.lf_calf.Pos = angle_pose[2]; /* 左前腿小腿位置 */ - break; + } + } - // Limit_ChassicOutput(&c->feedback, &c->output, 0.5, 0.0, 0.0); for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) { /* 限制输出 */ Limit_ChassicOutput(c->feedback.id[i].Pos, &c->output.id[i].Pos, diff --git a/User/module/chassis.h b/User/module/chassis.h index 0bb42b4..54452ec 100644 --- a/User/module/chassis.h +++ b/User/module/chassis.h @@ -126,6 +126,7 @@ typedef struct { typedef struct { uint32_t lask_wakeup; float dt; + float time; const Chassis_Params_t *param; /* 底盘的参数，用Chassis_Init设定 */ @@ -134,6 +135,7 @@ typedef struct { float height; /* 底盘高度，单位：米 */ /* 模块通用 */ CMD_ChassisMode_t mode; /* 底盘模式 */ + CMD_ChassisAction_t action; /* 底盘模式 */ /* 底盘设计 */ int8_t num_joint; /* 关节数量 */ @@ -142,8 +144,7 @@ typedef struct { /* 反馈控制用的PID */ struct { - KPID_t *motor; /* 控制轮子电机用的PID的动态数组 */ - KPID_t follow; /* 跟随云台用的PID */ + KPID_t *motor_id; /* 控制轮子电机用的PID的动态数组 */ } pid; /* 滤波器 */ diff --git a/User/module/config.c b/User/module/config.c index df69b03..263c8bf 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -103,7 +103,7 @@ Config_t param_default = { .rr_hip = 2.85f, /* 右后腿髋关节零点角度，单位：弧度 */ .rr_thigh = 10.81f, /* 右后腿大腿零点角度，单位：弧度 */ - .rr_calf = 4.83f + JOINT_CALF_OFFSET, /* 右后腿小腿零点角度，单位：弧度 */ + .rr_calf = 3.59f + JOINT_CALF_OFFSET, /* 右后腿小腿零点角度，单位：弧度 */ } },