robofish/rm_balance
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This commit is contained in:
Robofish 2026-02-10 17:45:13 +08:00
parent 5b89b3c4f4
commit 33dfef3288
6 changed files with 18 additions and 43 deletions
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2
.gitignore vendored
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@ -21,7 +21,7 @@
RTE/
Templates/
Examples/
底盘/
!*.uvprojx
!*.h
!*.c

2
Core/Inc/FreeRTOSConfig.h
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@ -72,7 +72,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x10000)
#define configTOTAL_HEAP_SIZE ((size_t)0x20000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configGENERATE_RUN_TIME_STATS 1
#define configUSE_TRACE_FACILITY 1

29
MDK-ARM/CtrBoard-H7_ALL.uvoptx
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@ -158,37 +158,12 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>L_length</ItemText>
<ItemText>chassis</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>R_length</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>L_fn</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>R_fn</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>LF</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>RF</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>chassis</ItemText>
<ItemText>dr16</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>

BIN
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
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Binary file not shown.

24
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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@ -1,5 +1,5 @@
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:10000000E896022405040008E9430108690701088D
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:10003000595F000800000000314601089153010893
@ -66,8 +66,8 @@
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@ -2684,8 +2684,8 @@
:10A7A000EA6737E705B0BDE8F08F00000000000061
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@ -6954,7 +6954,7 @@
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@ -7090,10 +7090,10 @@
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@ -7137,7 +7137,7 @@
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@ -8195,7 +8195,7 @@
:020000040802F0
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:1000400041414140404040404040404040404040AD
:100050004040404040050202020202020202020247

4
utils/Simulation-master/balance/series_legs/get_k_length.m
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@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
B=double(B);
Q=diag([1 1 20 5 50 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[1.2 0;0 0.25]; %T Tp
Q=diag([1 1 20 5 200 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[1.5 0;0 0.25]; %T Tp
K=lqr(A,B,Q,R);