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Robofish 2026-01-12 22:00:45 +08:00
parent 1712a3da8c
commit cdbd19cf24
6 changed files with 8660 additions and 8681 deletions
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62
MDK-ARM/CtrBoard-H7_ALL.uvoptx
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@ -153,56 +153,7 @@
<Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name> <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(5BA02477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint> <Breakpoint/>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>255</LineNumber>
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<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>startup_stm32h723xx.s</Filename>
<ExecCommand></ExecCommand>
<Expression>\\CtrBoard_H7_ALL\startup_stm32h723xx.s\255</Expression>
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@ -212,17 +163,22 @@
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>shoot</ItemText> <ItemText>L_fn</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>dr16</ItemText> <ItemText>R_fn</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>gimbal</ItemText> <ItemText>L_length</ItemText>
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<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>R_length</ItemText>
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<Tracepoint> <Tracepoint>

BIN
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
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17258
MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
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16
User/module/balance_chassis.c
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@ -27,7 +27,7 @@
#define NON_CONTACT_THETA 0.16f /* 离地时的摆角目标 (rad) */ #define NON_CONTACT_THETA 0.16f /* 离地时的摆角目标 (rad) */
#define LEFT_BASE_FORCE 60.0f /* 左腿基础支撑力 (N) */ #define LEFT_BASE_FORCE 60.0f /* 左腿基础支撑力 (N) */
#define RIGHT_BASE_FORCE 60.0f /* 右腿基础支撑力 (N) */ #define RIGHT_BASE_FORCE 60.0f /* 右腿基础支撑力 (N) */
float L_fn = 0.0f, L_tp = 0.0f, R_fn = 0.0f, R_tp = 0.0f;
/* Private function prototypes ---------------------------------------------- */ /* Private function prototypes ---------------------------------------------- */
static int8_t Chassis_MotorEnable(Chassis_t *c); static int8_t Chassis_MotorEnable(Chassis_t *c);
static int8_t Chassis_MotorRelax(Chassis_t *c); static int8_t Chassis_MotorRelax(Chassis_t *c);
@ -377,6 +377,20 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
c->output.wheel[1] = c_cmd->move_vec.vx * 0.2f; c->output.wheel[1] = c_cmd->move_vec.vx * 0.2f;
Chassis_Output(c); Chassis_Output(c);
} break; } break;
case CHASSIS_MODE_CALIBRATE: {
Chassis_LQRControl(c, c_cmd);
VMC_InverseSolve(&c->vmc_[0], L_fn, L_tp);
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
VMC_InverseSolve(&c->vmc_[1], R_fn, R_tp);
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
c->output.wheel[0] = 0.0f;
c->output.wheel[1] = 0.0f;
Chassis_Output(c);
} break;
case CHASSIS_MODE_WHELL_LEG_BALANCE: case CHASSIS_MODE_WHELL_LEG_BALANCE:
Chassis_LQRControl(c, c_cmd); Chassis_LQRControl(c, c_cmd);

1
User/module/balance_chassis.h
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@ -39,6 +39,7 @@ extern "C" {
typedef enum { typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */ CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
CHASSIS_MODE_RECOVER, /* 复位模式 */ CHASSIS_MODE_RECOVER, /* 复位模式 */
CHASSIS_MODE_CALIBRATE, /* 校准模式 */
CHASSIS_MODE_WHELL_LEG_BALANCE /* 轮子+腿平衡模式，底盘自我平衡 */ CHASSIS_MODE_WHELL_LEG_BALANCE /* 轮子+腿平衡模式，底盘自我平衡 */
} Chassis_Mode_t; } Chassis_Mode_t;

4
User/task/rc.c
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@ -115,8 +115,8 @@ switch (dr16.data.sw_l) {
case DR16_SW_DOWN: case DR16_SW_DOWN:
// cmd_for_chassis.mode = CHASSIS_MODE_RECOVER; // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
// cmd_for_chassis.mode = CHASSIS_MODE_ROTOR; // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
// cmd_for_chassis.mode = CHASSIS_MODE_JUMP; cmd_for_chassis.mode = CHASSIS_MODE_CALIBRATE;
break; break;
default: default:
cmd_for_chassis.mode = CHASSIS_MODE_RELAX; cmd_for_chassis.mode = CHASSIS_MODE_RELAX;