/* * 配置相关 */ /* Includes ----------------------------------------------------------------- */ #include "module/config.h" #include "bsp/can.h" <<<<<<< HEAD ======= #include "device/motor_dm.h" #include "device/rc_can.h" >>>>>>> main /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */ // 机器人参数配置 Config_RobotParam_t robot_config = { <<<<<<< HEAD .joint_param = { { // 左髋关节 .can = BSP_CAN_2, ======= .imu_param = { .can = BSP_CAN_2, .can_id = 0x6FF, .device_id = 0x42, .master_id = 0x43, }, .chassis_param = { .yaw={ .k=1.0f, .p=1.2f, .i=0.0f, .d=0.05f, .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=1.0f, .p=5.0f, /* 横滚角比例系数 */ .i=0.0f, /* 横滚角积分系数 */ .d=0.2f, /* 横滚角微分系数 */ .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 */ }, .leg_length={ .k = 20.0f, .p = 10.0f, .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 100.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .leg_theta={ .k=1.0f, .p=5.0f, /* 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=1.0f, .p=2.0f, /* 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=2.0f, /* 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, }, .joint_motors = { { // 左髋关节 .can = BSP_CAN_1, >>>>>>> main .motor_id = 124, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = false, .mode = MOTOR_LZ_MODE_MOTION, }, <<<<<<< HEAD { // 左膝关节 .can = BSP_CAN_2, ======= { // 左膝关节 .can = BSP_CAN_1, >>>>>>> main .motor_id = 125, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = false, .mode = MOTOR_LZ_MODE_MOTION, }, <<<<<<< HEAD { // 右膝关节 .can = BSP_CAN_2, ======= { // 右膝关节 .can = BSP_CAN_1, >>>>>>> main .motor_id = 126, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = true, .mode = MOTOR_LZ_MODE_MOTION, }, <<<<<<< HEAD { // 右髋关节 .can = BSP_CAN_2, ======= { // 右髋关节 .can = BSP_CAN_1, >>>>>>> main .motor_id = 127, .host_id = 0xFF, .module = MOTOR_LZ_RSO3, .reverse = true, .mode = MOTOR_LZ_MODE_MOTION, }, }, <<<<<<< HEAD .wheel_param = { { // 左轮 .can = BSP_CAN_2, .id = 0x141, // LK电机ID .module = MOTOR_LK_MF9025, .reverse = false, }, { // 右轮 .can = BSP_CAN_2, .id = 0x142, // LK电机ID ======= .wheel_motors = { { // 左轮电机 .can = BSP_CAN_1, .id = 0x141, .module = MOTOR_LK_MF9025, .reverse = false, }, { // 右轮电机 .can = BSP_CAN_1, .id = 0x142, >>>>>>> main .module = MOTOR_LK_MF9025, .reverse = true, }, }, <<<<<<< HEAD ======= .yaw_motor = { // 云台Yaw轴电机 .can = BSP_CAN_2, .can_id = 0x1, .master_id = 0x11, .module = MOTOR_DM_J4310, .reverse = false, }, .mech_zero_yaw = 1.20564249f, /* 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 = { -1.508572585852218e+02f, 1.764949368139731e+02f, -9.850368126414553e+01f, -1.786139736968997e+00f }, // theta .k12_coeff = { 6.466280284100411e+00f, -6.582699834130516e+00f, -7.131858380770703e+00f, -2.414590752579311e-01f }, // d_theta .k13_coeff = { -7.182568574598301e+01f, 7.405968297046749e+01f, -2.690651220502175e+01f, -1.029850390463813e-01f }, // x .k14_coeff = { -7.645548919162933e+01f, 7.988837668034076e+01f, -3.105733981791483e+01f, -4.296847184537235e-01f }, // d_x .k15_coeff = { -9.403058188674812e+00f, 2.314767704216332e+01f, -1.651965553704901e+01f, 3.907902082528794e+00f }, // phi .k16_coeff = { -4.023111056381187e+00f, 6.154951770170482e+00f, -3.705537084098432e+00f, 8.264904615264155e-01f }, // d_phi .k21_coeff = { 1.254775776629822e+02f, -8.971732439896309e+01f, 4.744038360386896e+00f, 1.088353622361175e+01f }, // theta .k22_coeff = { 1.061139172689013e+01f, -1.011235824540459e+01f, 3.034478775177782e+00f, 1.254920921163464e+00f }, // d_theta .k23_coeff = { -2.675556963667067e+01f, 4.511381902505539e+01f, -2.800741296230217e+01f, 7.647205920058282e+00f }, // x .k24_coeff = { -4.067721095665326e+01f, 6.068996620706580e+01f, -3.488384556019462e+01f, 9.374136714284193e+00f }, // d_x .k25_coeff = { 7.359316334738203e+01f, -7.896223244854855e+01f, 2.961892943386949e+01f, 4.406632136721399e+00f }, // phi .k26_coeff = { 1.624843000878248e+01f, -1.680831323767654e+01f, 6.018754311678180e+00f, 2.337719500754984e-01f }, // d_phi }, .lqr_param.max_joint_torque = 20.0f, // 关节电机最大力矩 20Nm .lqr_param.max_wheel_torque = 4.5f, // 轮毂电机最大力矩 2.5Nm }, .rc_can_param = { .can = BSP_CAN_2, .mode = RC_CAN_MODE_SLAVE, .joy_id = 0x250, .sw_id = 0x251, .mouse_id = 0x252, .keyboard_id = 0x253, }, >>>>>>> main }; /* 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 */ <<<<<<< HEAD Config_RobotParam_t *Config_GetRobotParam(void) { return &robot_config; } ======= Config_RobotParam_t* Config_GetRobotParam(void) { return &robot_config; } >>>>>>> main