/* * 配置相关 */ /* Includes ----------------------------------------------------------------- */ #include "module/config.h" #include /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */ /** * @brief 机器人参数配置 * @note 在此配置机器人参数 */ Config_RobotParam_t robot_config = { /* USER CODE BEGIN robot_config */ .shoot_param = { .trig_step_angle=M_2PI/8, .shot_delay_time=0.05f, .shot_burst_num=1, .fric_motor_param[0] = { .can = BSP_CAN_1, .id = 0x201, .module = MOTOR_M3508, .reverse = false, .gear=false, }, .fric_motor_param[1] = { .can = BSP_CAN_1, .id = 0x202, .module = MOTOR_M3508, .reverse = true, .gear=false, }, .trig_motor_param = { .can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M2006, .reverse = true, .gear=true, }, .fric_follow = { .k=1.0f, .p=1.8f, .i=0.0f, .d=0.0f, .i_limit=0.0f, .out_limit=0.9f, .d_cutoff_freq=30.0f, .range=-1.0f, }, .fric_err = { .k=1.0f, .p=4.0f, .i=0.4f, .d=0.04f, .i_limit=0.25f, .out_limit=0.25f, .d_cutoff_freq=40.0f, .range=-1.0f, }, .trig_omg = { .k=1.0f, .p=1.5f, .i=0.3f, .d=0.5f, .i_limit=0.2f, .out_limit=0.9f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, .trig = { .k=1.0f, .p=1.0f, .i=0.1f, .d=0.05f, .i_limit=0.8f, .out_limit=0.5f, .d_cutoff_freq=-1.0f, .range=M_2PI, }, .filter.fric = { .in = 30.0f, .out = 30.0f, }, .filter.trig = { .in = 30.0f, .out = 30.0f, }, }, .chassis_param = { .yaw={ .k=0.0f, .p=1.0f, .i=0.0f, .d=0.3f, .i_limit=0.0f, .out_limit=1.0f, .d_cutoff_freq=30.0f, .range=M_2PI, /* 2*PI，用于处理角度循环误差 */ }, .roll={ .k=0.2f, .p=0.5f, /* 横滚角比例系数 */ .i=0.01f, /* 横滚角积分系数 */ .d=0.01f, /* 横滚角微分系数 */ .i_limit=0.2f, /* 积分限幅 */ .out_limit=1.0f, /* 输出限幅，腿长差值限制 */ .d_cutoff_freq=30.0f, /* 微分截止频率 */ .range=-1.0f, /* 不使用循环误差处理 */ }, .leg_length={ .k = 40.0f, .p = 20.0f, .i = 0.01f, .d = 2.0f, .i_limit = 0.0f, .out_limit = 200.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .leg_theta={ .k=5.0f, .p=2.0f, /* 摆角比例系数 */ .i=0.0f, /* 摆角积分系数 */ .d=0.0f, /* 摆角微分系数 */ .i_limit=0.0f, /* 积分限幅 */ .out_limit=0.05f, /* 输出限幅，腿长差值限制 */ .d_cutoff_freq=30.0f, /* 微分截止频率 */ .range=-1.0f, /* 不使用循环误差处理 */ }, .tp={ .k=4.0f, .p=3.0f, /* 俯仰角比例系数 */ .i=0.0f, /* 俯仰角积分系数 */ .d=0.0f, /* 俯仰角微分系数 */ .i_limit=0.0f, /* 积分限幅 */ .out_limit=10.0f, /* 输出限幅，腿长差值限制 */ .d_cutoff_freq=30.0f, /* 微分截止频率 */ .range=-1.0f, /* 不使用循环误差处理 */ }, .low_pass_cutoff_freq = { .in = 30.0f, .out = 30.0f, }, .yaw_motor = { // 云台Yaw轴电机 .can = BSP_CAN_1, .can_id = 0x1, .master_id = 0x11, .module = MOTOR_DM_J4310, .reverse = false, }, .joint_param = { { // 左髋关节 .can = BSP_CAN_3, .motor_id = 124, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = false, .mode = MOTOR_LZ_MODE_MOTION, }, { // 右髋关节 .can = BSP_CAN_3, .motor_id = 125, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = false, .mode = MOTOR_LZ_MODE_MOTION, }, { // 左膝关节 .can = BSP_CAN_3, .motor_id = 126, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = true, .mode = MOTOR_LZ_MODE_MOTION, }, { // 右膝关节 .can = BSP_CAN_3, .motor_id = 127, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = true, .mode = MOTOR_LZ_MODE_MOTION, }, }, .wheel_param = { { // 左轮电机 .can = BSP_CAN_3, .id = 0x142, .module = MOTOR_LK_MF9025, .reverse = false, }, { // 右轮电机 .can = BSP_CAN_3, .id = 0x141, .module = MOTOR_LK_MF9025, .reverse = true, }, }, .mech_zero_yaw = 4.34085676f, /* 250.5度，机械零点 */ .vmc_param = { { // 左腿 .leg_1 = 0.215f, // 后髋连杆长度 (L1) (m) .leg_2 = 0.258f, // 后膝连杆长度 (L2) (m) .leg_3 = 0.258f, // 前膝连杆长度 (L3) (m) .leg_4 = 0.215f, // 前髋连杆长度 (L4) (m) .hip_length = 0.0f // 髋宽 (L5) (m) }, { // 右腿 .leg_1 = 0.215f, // 后髋连杆长度 (L1) (m) .leg_2 = 0.258f, // 后膝连杆长度 (L2) (m) .leg_3 = 0.258f, // 前膝连杆长度 (L3) (m) .leg_4 = 0.215f, // 前髋连杆长度 (L4) (m) .hip_length = 0.0f // 髋宽 (L5) (m) } }, .lqr_gains = { .k11_coeff = { -2.206604090845255e+02f, 2.614506318765019e+02f, -1.219897134978825e+02f, 4.003523899242641e-01f }, // theta .k12_coeff = { 5.238547234996340e+00f, -2.415779500015947e+00f, -5.523864718957871e+00f, -3.288450536725437e-02f }, // d_theta .k13_coeff = { -4.796628281855231e+01f, 5.222843773618256e+01f, -2.030859087373151e+01f, 9.553615633904794e-01f }, // x .k14_coeff = { -5.114874044222572e+01f, 5.608342009751554e+01f, -2.250513707827996e+01f, 9.368583953998064e-01f }, // d_x .k15_coeff = { 8.718089045972869e+00f, -4.795765678510961e+00f, -2.015329957668221e-01f, -1.530815441117353e-01f }, // phi .k16_coeff = { 3.719718252719277e+00f, -6.362232185738266e-01f, -1.909890524420421e+00f, 8.436774993934224e-01f }, // d_phi .k21_coeff = { 4.340036803921230e+02f, -3.471884225219289e+02f, 5.662796851481392e+01f, 1.439535390926727e+01f }, // theta .k22_coeff = { 2.121580303492383e+01f, -2.062767124799728e+01f, 5.508502515349819e+00f, 1.362747639428705e+00f }, // d_theta .k23_coeff = { 2.984613087238082e+01f, -8.945885746289814e+00f, -1.117089589066174e+01f, 5.995872655980672e+00f }, // x .k24_coeff = { 2.698938462778495e+01f, -4.437271561776529e+00f, -1.407449794025625e+01f, 6.932320158239218e+00f }, // d_x .k25_coeff = { -1.849173279556238e+01f, 1.518530098209295e+01f, -4.360488190802665e+00f, 3.211721463285619e+00f }, // phi .k26_coeff = { 3.222156602968452e+01f, -3.605782047335244e+01f, 1.436306842228090e+01f, -3.707923271862080e-01f }, // d_phi }, .theta = 0.0f, .x = 0.0f, .phi = -0.1f, } /* USER CODE END robot_config */ }; /* Private function prototypes ---------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ /** * @brief 获取机器人配置参数 * @return 机器人配置参数指针 */ Config_RobotParam_t* Config_GetRobotParam(void) { return &robot_config; }