318 lines
13 KiB
C
318 lines
13 KiB
C
/*
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* 底盘模组
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "chassis.h"
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#include <stdlib.h>
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#include "cmsis_os2.h"
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#include "device/go.h"
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#include "component/limiter.h"
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#include "component/kinematics.h"
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#include "component/path.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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#define CHASSIS_DEFAULT_HEIGHT (0.2f) /* 底盘默认高度，单位：米 */
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#define CHASSIS_MAX_SPEED (0.03f) /*调试用速度限幅*/
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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static Kinematics_JointCMD_t zero_torque = {
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.T = 0.0f, /* 零力矩 */
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.W = 0.0f, /* 零速度 */
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.Pos = 0.0f, /* 零位置 */
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.K_P = 0.0f, /* 零刚度系数 */
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.K_W = 0.0f, /* 零速度系数 */
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};
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static Kinematics_JointCMD_t damping_torque = {
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.T = 0.0f, /* 零力矩 */
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.W = 0.0f, /* 阻尼速度 */
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.Pos = 0.0f, /* 零位置 */
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.K_P = 0.0f, /* 零刚度系数 */
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.K_W = 0.1f, /* 阻尼速度系数 */
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};
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//位控模式
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static Kinematics_JointCMD_t position_mode = {
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.T = 0.0f, /* 零力矩 */
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.W = 0.0f, /* 零速度 */
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.Pos = 0.0f, /* 零位置 */
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.K_P = 3.0f, /* 刚度系数 */
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.K_W = 0.2f, /* 速度系数 */
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};
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// static uint8_t chassis_mode_states = 0;
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// static uint8_t chassis_action_states = 0;
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static uint8_t stage = 0;
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/* Private function -------------------------------------------------------- */
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/**
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* \brief 设置底盘运行模式
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*
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* \param c 包含底盘数据的结构体
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* \param mode 要设置的模式
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*
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* \return 函数运行结果
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*/
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static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisCmd_t *c_cmd) {
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if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
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if (c_cmd == NULL) return CHASSIS_ERR_NULL; /* 控制指令不能为空 */
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if (c->mode != c_cmd->mode) { /* 如果当前模式和要设置的模式不同 */
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c->mode = c_cmd->mode; /* 更新底盘模式 */
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stage = 0; /* 重置阶段 */
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c->time = 0.0f; /* 重置时间 */
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c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */
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}
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if (c->action != c_cmd->action) { /* 如果当前动作和要设置的动作不同 */
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c->action = c_cmd->action; /* 更新底盘动作 */
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stage = 0; /* 重置阶段 */
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c->time = 0.0f; /* 重置时间 */
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c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */
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}
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return CHASSIS_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 初始化底盘
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*
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* \param c 包含底盘数据的结构体
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* \param param 包含底盘参数的结构体指针
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* \param target_freq 任务预期的运行频率
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*
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* \return 函数运行结果
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*/
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int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
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float target_freq) {
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if (c == NULL) return CHASSIS_ERR_NULL;
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c->param = param; /* 初始化参数 */
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c->mode = CHASSIS_MODE_RELAX; /* 设置上电后底盘默认模式 */
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c->height = CHASSIS_DEFAULT_HEIGHT; /* 设置底盘默认高度为0.2米 */
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c->pid.motor_id = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->pid.motor_id));
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if (c->pid.motor_id == NULL) goto error;
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c->filter.in = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.in));
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if (c->filter.in == NULL) goto error;
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c->filter.out = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.out));
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if (c->filter.out == NULL) goto error;
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return CHASSIS_OK; /* 返回成功 */
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error:
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/* 动态内存分配错误时，释放已经分配的内存，返回错误值 */
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BSP_Free(c->pid.motor_id);
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BSP_Free(c->filter.in);
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BSP_Free(c->filter.out);
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return CHASSIS_ERR_NULL;
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}
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/**
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* \brief 更新底盘的反馈信息
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*
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* \param c 包含底盘数据的结构体
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* \param can CAN设备结构体
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*
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* \return 函数运行结果
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*/
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int8_t Chassis_UpdateFeedback(Chassis_t *c, const GO_ChassisFeedback_t *go){
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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Kinematics_RealFeedback(&c->feedback.id[i],&go->id[i],
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c->param->mech_param.ratio.id[i],
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c->param->mech_param.zero_point.id[i]);
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}
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}
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int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now){
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/* 底盘数据和控制指令结构体不能为空 */
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if (c == NULL) return CHASSIS_ERR_NULL;
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if (c_cmd == NULL) return CHASSIS_ERR_NULL;
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c->dt = (float)(now - c->lask_wakeup) / 1000.0f;
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c->lask_wakeup = now;
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c->time += c->dt; /* 更新用于生成动作的时间 */
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// while (c->time > 1.0f) { c ->time -= 1.0f; } /* 保持时间在0-1秒之间 */
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Chassis_SetMode(c, c_cmd); /* 设置底盘模式和动作 */
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switch (c->mode) {
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case CHASSIS_MODE_RELAX: /* 放松模式，电机不输出 */
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c->output = (GO_ChassisCMD_t){0}; /* 清空输出 */
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c->mode = CHASSIS_MODE_RELAX; /* 更新状态 */
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c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */
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c->time = 0.0f; /* 重置时间 */
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break;
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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 */
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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c->output.id[i] = damping_torque; /* 设置阻尼力矩 */
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}
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c->mode = CHASSIS_MODE_DAMP; /* 更新状态 */
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c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */
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c->time = 0.0f; /* 重置时间 */
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break;
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case CHASSIS_MODE_POSITION:{
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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c->output.id[i] = position_mode; /* 设置位置模式 */}
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switch (c->action) {
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case CHASSIS_ACTION_NONE:{
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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c->output.id[i].Pos = c->feedback.id[i].Pos;}
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c->mode = CHASSIS_MODE_POSITION;
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c->action = CHASSIS_ACTION_NONE;
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c->time = 0.0f; /* 重置时间 */
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break;
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}
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case CHASSIS_ACTION_STAND:{
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c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */
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for (uint8_t i = 0; i < GO_MOTOR_NUM/3; i++) {
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if (i % 2 == 0) { /* 左前腿和右后腿 */
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float target_pose[3] = {0.0, -0.0861, -c->height};
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float angle_pose[3];
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Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]);
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c->output.id[i * 3].Pos = angle_pose[0]; /* 左前腿髋关节 */
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c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 左前腿大腿 */
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c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 左前腿小腿 */
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} else {
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float target_pose[3] = {0.0, 0.0861, -c->height}; /* 右前腿和左后腿 */
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float angle_pose[3];
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Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]);
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c->output.id[i * 3].Pos = angle_pose[0]; /* 右前腿髋关节 */
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c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 右前腿大腿 */
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c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 右前腿小腿 */
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}
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}
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break;
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} /* 站立动作 */
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case CHASSIS_ACTION_WALK:{
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c->height = c->height + c_cmd->delta_hight * c->dt;
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float T = 2.0f; // 步态周期(s)
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float swing_height = 0.15f; // 摆动腿抬高高度
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float stride_x = c_cmd->ctrl_vec.vx * T; // x方向步幅
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float stride_y = c_cmd->ctrl_vec.vy * T; // y方向步幅
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float wz = c_cmd->ctrl_vec.wz; // 旋转速度
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uint8_t swing_leg = (uint8_t)(c->time / (T / 4)) % 4; // 当前摆动腿编号
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float t_phase = fmodf(c->time, T / 4) / (T / 4); // 当前腿相内归一化时间
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for (uint8_t leg = 0; leg < 4; leg++) {
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float target_pose[3];
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float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f;
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float base_x = 0.0f;
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if (leg == swing_leg) {
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// 摆动腿：贝塞尔轨迹，抬高并前移
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float start[3] = {base_x - stride_x/2, base_y - stride_y/2, -c->height};
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float mid1[3] = {base_x, base_y, -c->height + swing_height};
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float mid2[3] = {base_x, base_y, -c->height + swing_height};
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float end[3] = {base_x + stride_x/2, base_y + stride_y/2, -c->height};
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Path_Bezier3d(start, mid1, mid2, end, t_phase, target_pose);
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} else {
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// 支撑腿：3/4周期内走完整步幅的1/3
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// 计算支撑腿在支撑相内的归一化时间
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uint8_t support_leg_index = (leg + 4 - swing_leg) % 4;
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float support_phase = fmodf(c->time + (T / 4) * support_leg_index, T) / (T * 3.0f / 4.0f);
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if (support_phase > 1.0f) support_phase = 1.0f;
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// 支撑腿分三段，每段1/3步幅
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float seg = support_phase * 3.0f; // [0,3)
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int seg_idx = (int)seg; // 0,1,2
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float seg_phase = seg - seg_idx; // [0,1)
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// 每段起止点
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float seg_start_x = base_x + stride_x/2 - stride_x * seg_idx / 3.0f;
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float seg_start_y = base_y + stride_y/2 - stride_y * seg_idx / 3.0f;
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float seg_end_x = base_x + stride_x/2 - stride_x * (seg_idx+1) / 3.0f;
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float seg_end_y = base_y + stride_y/2 - stride_y * (seg_idx+1) / 3.0f;
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Path_straight3d(
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(float[3]){seg_start_x, seg_start_y, -c->height},
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(float[3]){seg_end_x, seg_end_y, -c->height},
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seg_phase, target_pose
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);
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}
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float angle_pose[3];
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Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]);
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c->output.id[leg * 3 + 0].Pos = angle_pose[0];
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c->output.id[leg * 3 + 1].Pos = angle_pose[1];
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c->output.id[leg * 3 + 2].Pos = angle_pose[2];
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}
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break;
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}
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case CHASSIS_ACTION_TROT:{
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float T = 0.6f; // 步态周期(s)
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if (c->time > T) {
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c->time -= T; // 保持时间在0-T之间
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}
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float stride_x = c_cmd->ctrl_vec.vx / 10.0f;
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float stride_y = c_cmd->ctrl_vec.vy / 10.0f;
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float swing_height = 0.15f; // 摆动腿抬高高度
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// 对角腿分组：0-3一组，1-2一组
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for (uint8_t leg = 0; leg < 4; leg++) {
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float t_leg = fmodf(c->time + ((leg == 0 || leg == 3) ? 0.0f : T/2), T) / T; // 对角腿相差半周期
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float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f;
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float target_pose[3];
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if (t_leg < 0.5f) {
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// 摆动相，贝塞尔插值
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float t_bezier = t_leg / 0.5f;
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float start[3] = {-stride_x, base_y - stride_y, -c->height};
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float mid1[3] = {0, base_y, -c->height + swing_height};
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float mid2[3] = {0, base_y, -c->height + swing_height};
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float end[3] = {stride_x, base_y + stride_y, -c->height};
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Path_Bezier3d(start, mid1, mid2, end, t_bezier, target_pose);
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} else {
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// 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
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float t_line = (t_leg - 0.5f) / 0.5f;
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float start[3] = {stride_x, base_y + stride_y, -c->height}; // 摆动相终点
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float end[3] = {-stride_x, base_y - stride_y, -c->height}; // 下一个摆动相起点
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Path_straight3d(start, end, t_line, target_pose);
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}
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float angle_pose[3];
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Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]);
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c->output.id[leg * 3 + 0].Pos = angle_pose[0];
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c->output.id[leg * 3 + 1].Pos = angle_pose[1];
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c->output.id[leg * 3 + 2].Pos = angle_pose[2];
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}
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break;
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}
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}
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}
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}
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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/* 限制输出 */
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Limit_ChassicOutput(c->feedback.id[i].Pos, &c->output.id[i].Pos,
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c->param->mech_param.ratio.id[i] * CHASSIS_MAX_SPEED,
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c->param->mech_param.limit.max.id[i],
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c->param->mech_param.limit.min.id[i]);
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}
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}
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void Chassis_DumpOutput(const Chassis_t *c, GO_ChassisCMD_t *out){
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if (c == NULL || out == NULL) return; /* 主结构体和输出结构体不能为空 */
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for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
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Kinematics_RealOutput(&c->output.id[i], &out->id[i],
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c->param->mech_param.ratio.id[i],
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c->param->mech_param.zero_point.id[i]);
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}
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}
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