改底盘
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62e187a743
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401508ed08
@ -103,7 +103,7 @@
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<bEvRecOn>1</bEvRecOn>
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<bSchkAxf>0</bSchkAxf>
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<bTchkAxf>0</bTchkAxf>
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<nTsel>6</nTsel>
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<nTsel>3</nTsel>
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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@ -114,9 +114,34 @@
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
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<pMon>BIN\CMSIS_AGDI.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>ARMRTXEVENTFLAGS</Key>
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<Name>-L70 -Z18 -C0 -M0 -T1</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGTARM</Key>
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<Name>(1010=-1,-1,-1,-1,0)(6017=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(6016=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>ARMDBGFLAGS</Key>
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>CMSIS_AGDI</Key>
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<Name>-X"" -O206 -S9 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(6BA02477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC8000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGUARM</Key>
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>UL2CM3</Key>
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@ -129,6 +154,13 @@
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>chassis</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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</Tracepoint>
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Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -93,10 +93,165 @@ Config_RobotParam_t robot_config = {
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.in = 30.0f,
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.out = 30.0f,
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},
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},
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.chassis_param = {
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.yaw={
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.k=1.0f,
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.p=1.0f,
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.i=0.0f,
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.d=0.3f,
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.i_limit=0.0f,
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.out_limit=1.0f,
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.d_cutoff_freq=30.0f,
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.range=M_2PI, /* 2*PI，用于处理角度循环误差 */
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},
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.roll={
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.k=1.0f,
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.p=0.5f, /* 横滚角比例系数 */
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.i=0.01f, /* 横滚角积分系数 */
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.d=0.01f, /* 横滚角微分系数 */
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.i_limit=0.2f, /* 积分限幅 */
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.out_limit=1.0f, /* 输出限幅，腿长差值限制 */
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.d_cutoff_freq=30.0f, /* 微分截止频率 */
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.range=-1.0f, /* 不使用循环误差处理 */
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},
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.leg_length={
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.k = 40.0f,
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.p = 20.0f,
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.i = 0.01f,
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.d = 2.0f,
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.i_limit = 0.0f,
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.out_limit = 200.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f,
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},
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.leg_theta={
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.k=5.0f,
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.p=2.0f, /* 摆角比例系数 */
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.i=0.0f, /* 摆角积分系数 */
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.d=0.0f, /* 摆角微分系数 */
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.i_limit=0.0f, /* 积分限幅 */
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.out_limit=0.05f, /* 输出限幅，腿长差值限制 */
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.d_cutoff_freq=30.0f, /* 微分截止频率 */
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.range=-1.0f, /* 不使用循环误差处理 */
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},
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.tp={
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.k=4.0f,
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.p=3.0f, /* 俯仰角比例系数 */
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.i=0.0f, /* 俯仰角积分系数 */
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.d=0.0f, /* 俯仰角微分系数 */
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.i_limit=0.0f, /* 积分限幅 */
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.out_limit=10.0f, /* 输出限幅，腿长差值限制 */
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.d_cutoff_freq=30.0f, /* 微分截止频率 */
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.range=-1.0f, /* 不使用循环误差处理 */
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},
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.low_pass_cutoff_freq = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.yaw_motor = { // 云台Yaw轴电机
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.can = BSP_CAN_1,
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.can_id = 0x1,
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.master_id = 0x11,
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.module = MOTOR_DM_J4310,
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.reverse = false,
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},
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.joint_param = {
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{ // 左髋关节
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.can = BSP_CAN_3,
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.motor_id = 124,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = false,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{ // 右髋关节
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.can = BSP_CAN_3,
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.motor_id = 125,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = false,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{ // 左膝关节
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.can = BSP_CAN_3,
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.motor_id = 126,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = true,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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{ // 右膝关节
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.can = BSP_CAN_3,
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.motor_id = 127,
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.host_id = 0xFF,
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.module = MOTOR_LZ_RSO3,
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.reverse = true,
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.mode = MOTOR_LZ_MODE_MOTION,
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},
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},
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.wheel_param = {
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{ // 左轮电机
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.can = BSP_CAN_3,
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.id = 0x141,
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.module = MOTOR_LK_MF9025,
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.reverse = false,
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},
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{ // 右轮电机
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.can = BSP_CAN_3,
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.id = 0x142,
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.module = MOTOR_LK_MF9025,
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.reverse = true,
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},
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},
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.mech_zero_yaw = 4.34085676f, /* 250.5度，机械零点 */
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.vmc_param = {
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{ // 左腿
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.leg_1 = 0.215f, // 后髋连杆长度 (L1) (m)
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.leg_2 = 0.258f, // 后膝连杆长度 (L2) (m)
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.leg_3 = 0.258f, // 前膝连杆长度 (L3) (m)
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.leg_4 = 0.215f, // 前髋连杆长度 (L4) (m)
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.hip_length = 0.0f // 髋宽 (L5) (m)
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},
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{ // 右腿
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.leg_1 = 0.215f, // 后髋连杆长度 (L1) (m)
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.leg_2 = 0.258f, // 后膝连杆长度 (L2) (m)
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.leg_3 = 0.258f, // 前膝连杆长度 (L3) (m)
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.leg_4 = 0.215f, // 前髋连杆长度 (L4) (m)
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.hip_length = 0.0f // 髋宽 (L5) (m)
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}
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},
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.lqr_gains = {
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.k11_coeff = { -2.213202553185133e+02f, 2.353939463356143e+02f, -1.057072351438971e+02f, -1.581085937677281e+00f }, // theta
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.k12_coeff = { -9.181864404672975e+00f, 8.531964722737065e+00f, -9.696625432480346e+00f, -2.388898921230960e-01f }, // d_theta
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.k13_coeff = { -6.328339397527442e+01f, 6.270159865929592e+01f, -2.133356351416681e+01f, -2.795774497769496e-01f }, // x
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.k14_coeff = { -7.428160824353201e+01f, 7.371925049068537e+01f, -2.613745545093503e+01f, -5.994101373770330e-01f }, // d_x
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.k15_coeff = { -6.968934105907989e+01f, 9.229969229361623e+01f, -4.424018428098277e+01f, 8.098181536555296e+00f }, // phi
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.k16_coeff = { -1.527045508038401e+01f, 2.030548630730375e+01f, -1.009526207086012e+01f, 2.014358176738665e+00f }, // d_phi
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.k21_coeff = { 6.254476937997669e+01f, 9.037146968574660e+00f, -4.492072460618583e+01f, 1.770766202994207e+01f }, // theta
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.k22_coeff = { 3.165057029795604e-02f, 7.350960766534424e+00f, -6.597366624137901e+00f, 2.798506180182324e+00f }, // d_theta
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.k23_coeff = { -5.827814614802593e+01f, 7.789995488757775e+01f, -3.841148024725668e+01f, 8.034534049078013e+00f }, // x
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.k24_coeff = { -8.937952443465080e+01f, 1.128943502182752e+02f, -5.293642666103645e+01f, 1.073722383888271e+01f }, // d_x
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.k25_coeff = { 2.478483065877546e+02f, -2.463640234149189e+02f, 8.359617215530402e+01f, 8.324247402653134e+00f }, // phi
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.k26_coeff = { 6.307211927250707e+01f, -6.266313408748906e+01f, 2.129449351279647e+01f, 9.249265186231070e-01f }, // d_phi
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},
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.theta = 0.0f,
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.x = 0.0f,
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.phi = -0.1f,
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}
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/* USER CODE END robot_config */
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};
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@ -42,6 +42,7 @@ void Task_blink(void *argument) {
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/* USER CODE BEGIN */
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count++;
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uint16_t phase = count % 1000;
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if (count == 1001) count = 1;
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if (phase == 0) {
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/* 每秒开始播放C4音符 */
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BUZZER_Set(&buzzer, 261.63f, 0.5f); // C4音符频率约261.63Hz
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