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缝缝补补也算是有了双轴限位不过还有bug

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This commit is contained in:
Robofish 2025-01-22 17:34:09 +08:00
parent 6c7e02f5c7
commit fa5dae4e9f
13 changed files with 9520 additions and 9416 deletions
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10
MDK-ARM/DevC.uvoptx
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@ -412,6 +412,16 @@
<WinNumber>1</WinNumber>
<ItemText>cmd_host</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_ahrs</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>eulr_to_send</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>

BIN
MDK-ARM/DevC/DevC.axf
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Binary file not shown.

18617
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

2
User/component/cmd.c
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@ -225,7 +225,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->gimbal.mode = GIMBAL_MODE_SEARCH;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;

2
User/component/cmd.h
View File

@ -42,8 +42,8 @@ typedef enum {
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
GIMBAL_MODE_SEARCH, /* 搜索模式，通过云台旋转搜索目标 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} CMD_GimbalMode_t;
/* 射击运行模式 */

4
User/device/ai.c
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@ -101,9 +101,9 @@ error:
void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
cmd_host->gimbal_delta.yaw = -ai->form_host.data.gimbal.yaw;
// cmd_host->gimbal_delta.yaw = cmd_host->gimbal_delta.yaw - 0.00015;
cmd_host->gimbal_delta.yaw = cmd_host->gimbal_delta.yaw - 0.00025;
cmd_host->gimbal_delta.pit = -ai->form_host.data.gimbal.pit;
cmd_host->gimbal_delta.pit = cmd_host->gimbal_delta.pit + 0.0002;
cmd_host->gimbal_delta.pit = cmd_host->gimbal_delta.pit + 0.0005;
Clip(&(cmd_host->gimbal_delta.yaw), -AI_HOST_MAX_CONTROL_VALUE,
AI_HOST_MAX_CONTROL_VALUE);
Clip(&(cmd_host->gimbal_delta.pit), -AI_HOST_MAX_CONTROL_VALUE,

2
User/device/can.h
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@ -200,7 +200,7 @@ typedef union {
} CAN_GimbalMotor_t;
typedef union {
CAN_MotorFeedback_t as_array[3];
CAN_MotorFeedback_t as_array[4];
struct {
CAN_MotorFeedback_t fric1;
CAN_MotorFeedback_t fric2;

51
User/module/config.c
View File

@ -138,7 +138,12 @@ static const Config_RobotParam_t param_default = {
},
}, /* pid */
.pitch_travel_rad = 1.05f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 2.0f,
.yaw_imu = false,
.pit_imu = false,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -150,7 +155,6 @@ static const Config_RobotParam_t param_default = {
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -285,7 +289,12 @@ static const Config_RobotParam_t param_hero = {
},
}, /* pid */
.pitch_travel_rad = 1.07685447f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -297,7 +306,6 @@ static const Config_RobotParam_t param_hero = {
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -434,25 +442,6 @@ static const Config_RobotParam_t param_sentry_chassis = {
.d_cutoff_freq = -1.0f,
.range = M_2PI,
}, {
// /* GIMBAL_PID_PIT_OMEGA_IDX */
// .k = 0.35f,
// .p = 1.0f,
// .i = 0.f,
// .d = 0.003f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_PIT_ANGLE_IDX */
// .k = 15.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_PIT_OMEGA_IDX */
.k = 0.25f,
.p = 1.0f,
@ -475,7 +464,12 @@ static const Config_RobotParam_t param_sentry_chassis = {
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -487,7 +481,6 @@ static const Config_RobotParam_t param_sentry_chassis = {
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -665,7 +658,12 @@ static const Config_RobotParam_t param_sentry_gimbal = {
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.limit_and_imu = {
.yaw_travel_rad = -1.0f,
.pitch_travel_rad = 1.0f,
.yaw_imu = true,
.pit_imu = true,
},
.low_pass_cutoff_freq = {
.out = -1.0f,
@ -677,7 +675,6 @@ static const Config_RobotParam_t param_sentry_gimbal = {
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */

4
User/module/config.h
View File

@ -47,8 +47,8 @@ typedef struct {
} cali; /* 校准 */
AHRS_Eulr_t mech_zero; /* 机械零点 */
float gimbal_limit; /* 云台pitch轴软件限位最高点 */
float gimbal_pitch_limit; /* 云台pitch轴软件限位最高点 */
float gimbal_yaw_limit; /* 云台yaw轴软件限位最高点 */
} Config_t;
/* 机器人参数和对应字符串的映射 */

142
User/module/gimbal.c
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@ -9,9 +9,6 @@
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define YAW_DELTA_MAX (5.7f + M_PI)
#define YAW_DELTA_MIN (1.8f + M_PI)
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
@ -28,6 +25,10 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
if (g == NULL) return -1;
if (mode == g->mode) return GIMBAL_OK;
/* 获取当前反馈值，防止位置突变 */
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
g->setpoint.eulr.pit = g->feedback.eulr.encoder.pit;
/* 切换模式后重置PID和滤波器 */
for (uint8_t i = 0; i < GIMBAL_PID_NUM; i++) {
PID_Reset(g->pid + i);
@ -39,7 +40,11 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
if (g->mode == GIMBAL_MODE_RELAX) {
if (mode == GIMBAL_MODE_ABSOLUTE) {
if (g->param->limit_and_imu.yaw_imu) {
g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
} else {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
}
} else if (mode == GIMBAL_MODE_RELATIVE) {
g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
} else if (mode == GIMBAL_MODE_SEARCH) {
@ -71,9 +76,12 @@ int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
/* 设置软件限位 */
if (g->param->reverse.pit) CircleReverse(&limit_max);
g->limit.min = g->limit.max = limit_max;
CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
g->limit.pit_min = g->limit.pit_max = limit_max;
CircleAdd(&(g->limit.pit_min), -g->param->limit_and_imu.pitch_travel_rad, M_2PI);
if (g->param->reverse.yaw) CircleReverse(&limit_max);
g->limit.yaw_min = g->limit.yaw_max = limit_max;
CircleAdd(&(g->limit.yaw_min), -g->param->limit_and_imu.yaw_travel_rad, M_2PI);
/* 初始化云台电机控制PID和LPF */
PID_Init(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
&(g->param->pid[GIMBAL_PID_YAW_ANGLE_IDX]));
@ -135,50 +143,80 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode);
/* yaw坐标正方向与遥控器操作逻辑相反 */
g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
if (g->param->pit_ctrl_reverse){
g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
}else{
g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
// /* 处理yaw控制命令 */
// CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
if (g->param->limit_and_imu.yaw_travel_rad > 0.0f) {
/* 处理yaw控制命令，软件限位 */
float delta_yaw_max;
float delta_yaw_min;
if (g->param->limit_and_imu.yaw_imu)
{
delta_yaw_max =
CircleError(g->limit.yaw_max,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
delta_yaw_min =
CircleError(g->limit.yaw_min,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
}else
{
delta_yaw_max =
CircleError(g->limit.yaw_max,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.encoder.yaw),
M_2PI);
delta_yaw_min =
CircleError(g->limit.yaw_min,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.encoder.yaw),
M_2PI);
}
/* 处理yaw控制命令 */
/* 处理yaw控制命令，添加yaw限位 */
const float yaw_delta_max =
CircleError(YAW_DELTA_MAX,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
const float yaw_delta_min =
CircleError(YAW_DELTA_MIN,
(g->feedback.eulr.encoder.yaw + g->setpoint.eulr.yaw -
g->feedback.eulr.imu.yaw),
M_2PI);
Clip(&(g_cmd->delta_eulr.yaw), yaw_delta_min, yaw_delta_max);
CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
Clip(&(g_cmd->delta_eulr.yaw), delta_yaw_min, delta_yaw_max);
}else (CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI));
g->setpoint.eulr.yaw += g_cmd->delta_eulr.yaw;
if (g->param->limit_and_imu.pitch_travel_rad > 0.0f) {
/* 处理pitch控制命令，软件限位 */
// const float delta_max =
// CircleError(g->limit.max,
// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
// g->feedback.eulr.imu.pit),
// M_2PI);
// const float delta_min =
// CircleError(g->limit.min,
// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
// g->feedback.eulr.imu.pit),
// M_2PI);
const float delta_max =
CircleError(g->limit.max,
float delta_pitch_max;
float delta_pitch_min;
if (g->param->limit_and_imu.pit_imu)
{
delta_pitch_max =
CircleError(g->limit.pit_max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
M_2PI);
delta_pitch_min =
CircleError(g->limit.pit_min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
M_2PI);
}else
{
delta_pitch_max =
CircleError(g->limit.pit_max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit),
M_2PI);
const float delta_min =
CircleError(g->limit.min,
delta_pitch_min =
CircleError(g->limit.pit_min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.encoder.pit),
M_2PI);
Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
}
Clip(&(g_cmd->delta_eulr.pit), delta_pitch_min, delta_pitch_max);
}else (CircleAdd(&(g->setpoint.eulr.pit), g_cmd->delta_eulr.pit, M_2PI));
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
/* 重置输入指令，防止重复处理 */
@ -191,7 +229,11 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
break;
case GIMBAL_MODE_SEARCH:
g->setpoint.eulr.pit = g->limit.pit_min + (g->limit.pit_max - g->limit.pit_min) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
g->setpoint.eulr.yaw = g->limit.yaw_min + (g->limit.yaw_max - g->limit.yaw_min) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
case GIMBAL_MODE_ABSOLUTE:
if (g->param->limit_and_imu.yaw_imu && g->param->limit_and_imu.pit_imu){
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.imu.yaw, 0.0f, g->dt);
@ -199,27 +241,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
// pit_omega_set_point =
// PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
// g->feedback.eulr.imu.pit, 0.0f, g->dt);
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.encoder.pit, 0.0f, g->dt);
g->feedback.eulr.imu.pit, 0.0f, g->dt);
g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
0.0, 0.f, g->dt);
break;
case GIMBAL_MODE_RELATIVE:
for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
break;
case GIMBAL_MODE_SEARCH:
// g->setpoint.eulr.yaw = YAW_DELTA_MIN + (YAW_DELTA_MAX - YAW_DELTA_MIN) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
g->setpoint.eulr.yaw = YAW_DELTA_MIN + (YAW_DELTA_MAX - YAW_DELTA_MIN) * (1.0f - sinf(now / 500.0f)) / 2.0f; // 在min和max之间摆动
g->setpoint.eulr.pit = g->limit.min + (g->limit.max - g->limit.min) * (sinf(now / 100.0f) + 1.0f) / 2.0f; // 在min和max之间摆动
}else{
yaw_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
@ -230,9 +259,16 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.encoder.pit, 0.0f, g->dt);
g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
0.0, 0.f, g->dt);
}
break;
case GIMBAL_MODE_RELATIVE:
for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
break;
}

14
User/module/gimbal.h
View File

@ -52,7 +52,13 @@ typedef struct {
float gyro; /* 陀螺仪数据 */
} low_pass_cutoff_freq;
/* 设置云台限位和是否启用imu */
struct {
float yaw_travel_rad; /* 云台yaw轴行程弧度 */
float pitch_travel_rad; /* 云台pitch轴行程弧度 */
bool yaw_imu;
bool pit_imu;
} limit_and_imu;
/* 设置默认运动方向 */
struct {
@ -60,14 +66,14 @@ typedef struct {
bool pit;
} reverse;
bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
} Gimbal_Params_t;
/* 软件限位 */
typedef struct {
float max;
float min;
float yaw_max;
float yaw_min;
float pit_max;
float pit_min;
} Gimbal_Limit_t;
/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */

20
User/task/cli.c
View File

@ -32,10 +32,10 @@ typedef struct {
static const char *const CLI_WELCOME_MESSAGE =
"\r\n"
// " ______ __ _______ __ \r\n"
// " | __ \\.-----.| |--.-----.| | |.---.-.-----.| |_.-----.----.\r\n"
// " | <| _ || _ | _ || || _ |__ --|| _| -__| _|\r\n"
// " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__| \r\n"
" ______ __ _______ __ \r\n"
" | __ \\.-----.| |--.-----.| | |.---.-.-----.| |_.-----.----.\r\n"
" | <| _ || _ | _ || || _ |__ --|| _| -__| _|\r\n"
" |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__| \r\n"
" -------------------------------------------------------------------\r\n"
" FreeRTOS CLI. Type 'help' to view a list of registered commands. \r\n"
"\r\n";
@ -523,7 +523,7 @@ static BaseType_t Command_SetGimbalLim(char *out_buffer, size_t len,
switch (fsm.stage) {
case 0:
Config_Get(&cfg);
snprintf(out_buffer, len, "(old)limit:%f\r\n", cfg.gimbal_limit);
snprintf(out_buffer, len, "(old)pit_limit:%f,(old)yaw_limit:%f\r\n", cfg.gimbal_pitch_limit, cfg.gimbal_yaw_limit);
fsm.stage = 1;
return pdPASS;
case 1:
@ -538,12 +538,12 @@ static BaseType_t Command_SetGimbalLim(char *out_buffer, size_t len,
}
Config_Get(&cfg);
osThreadResume(task_runtime.thread.ctrl_gimbal);
cfg.gimbal_limit = can.motor.gimbal.named.pit.rotor_angle;
cfg.gimbal_pitch_limit = can.motor.gimbal.named.pit.rotor_angle;
cfg.gimbal_yaw_limit = can.motor.gimbal.named.yaw.rotor_angle;
Config_Set(&cfg);
Config_Get(&cfg);
snprintf(out_buffer, len, "(new)limit:%f\r\nDone.", cfg.gimbal_limit);
snprintf(out_buffer, len, "(new)limit_pitch:%f,limit_yaw%f\r\nDone.", cfg.gimbal_pitch_limit, cfg.gimbal_yaw_limit);
fsm.stage = 2;
return pdPASS;
case 2:
@ -692,7 +692,7 @@ void Task_CLI(void *argument) {
BSP_USB_Printf(CLI_WELCOME_MESSAGE);
/* 开始运行命令行界面 */
BSP_USB_Printf("rm>");
BSP_USB_Printf("qut-move-rm>");
while (1) {
#ifdef DEBUG
/* 记录任务所使用的的栈空间 */
@ -730,7 +730,7 @@ void Task_CLI(void *argument) {
index = 0; /* 重置索引，准备接收下一段命令 */
memset(input, 0x00, strlen(input)); /* 清空输入缓存 */
}
BSP_USB_Printf("rm>");
BSP_USB_Printf("qut-move-rm>");
} else if (rx_char == '\b' || rx_char == 0x7Fu) {
/* 如果输入的是退格键则清空一位输入缓存，同时进行界限保护 */
if (index > 0) {

2
User/task/ctrl_gimbal.c
View File

@ -43,7 +43,7 @@ void Task_CtrlGimbal(void *argument) {
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
/* 初始化云台 */
Gimbal_Init(&gimbal, &(task_runtime.cfg.robot_param->gimbal),
task_runtime.cfg.gimbal_limit, (float)TASK_FREQ_CTRL_GIMBAL);
task_runtime.cfg.gimbal_pitch_limit, (float)TASK_FREQ_CTRL_GIMBAL);
/* 延时一段时间再开启任务 */
osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL,