/* * 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 */ .gimbal_param = { .pid = { .yaw_omega = { .k = 0.25f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .yaw_angle = { .k = 7.0f, .p = 3.5f, .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .pit_omega = { .k = 0.25f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .pit_angle = { .k = 2.5f, .p = 5.0f, .i = 0.2f, .d = 0.01f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, }, .mech_zero = { .yaw = 0.0f, .pit = 2.2f, }, .travel = { .yaw = -1.0f, .pit = 0.85f, }, .low_pass_cutoff_freq = { .out = -1.0f, .gyro = 1000.0f, }, .pit_motor ={ .can = BSP_CAN_1, .id = 0x206, .gear = false, .module = MOTOR_GM6020, .reverse = true, }, .yaw_motor = { .can = BSP_CAN_1, .can_id = 0x1, .master_id = 0x11, .module = MOTOR_DM_J4310, .reverse = false, }, .imu = { .can = BSP_CAN_2, .accl_id = 0x100, // 加速度计 (十进制256) .gyro_id = 0x101, // 陀螺仪 (十进制257) .eulr_id = 0x102, // 欧拉角 (十进制258) .quat_id = 0x103 // 四元数 (十进制259) }, }, .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=1.5f, .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=1.0f, .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=0.15f, .p=0.3f, /* 横滚角腿长补偿比例系数 (降低避免抖动) */ .i=0.0f, /* 横滚角腿长补偿积分系数 (关闭避免震荡) */ .d=0.01f, /* 横滚角腿长补偿微分系数 (关闭避免噪声放大) */ .i_limit=0.0f, /* 积分限幅 */ .out_limit=0.03f, /* 输出限幅，腿长差值限制(m) 降低避免过度补偿 */ .d_cutoff_freq=30.0f, /* 微分截止频率 */ .range=-1.0f, /* 不使用循环误差处理 */ }, .roll_force={ .k=5.0f, .p=10.0f, /* 横滚角力补偿比例系数 (大幅降低避免抖动) */ .i=0.0f, /* 横滚角力补偿积分系数 */ .d=5.0f, /* 横滚角力补偿微分系数 (降低避免高频抖动) */ .i_limit=0.0f, /* 积分限幅 */ .out_limit=20.0f, /* 输出限幅，力补偿限制(N) 降低避免过度补偿 */ .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 = 30.0f, .i = 0.0f, .d = 1.5f, .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 = 1.78040409f, /* 机械零点 */ .joint_zero = {0.0f, 0.0f, 0.0f, 0.0f}, /* 关节电机零点偏移位置 */ .hip_width = 0.423f, /* 髋宽，即两腿间距 (m)，用于Roll几何补偿 */ .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 = { -1.997928012118380e+02f, 2.358970856133577e+02f, -1.221432656066952e+02f, -3.660884265594530e+00f }, // theta .k12_coeff = { 1.144642140244768e+00f, -6.781143989723293e-01f, -8.286867905694857e+00f, -3.233743818654922e-01f }, // d_theta .k13_coeff = { -2.920908857554099e+01f, 3.294053235814564e+01f, -1.331127106026891e+01f, -2.036633181450379e+00f }, // x .k14_coeff = { -2.202395151966686e+01f, 2.624258394298977e+01f, -1.238392622003398e+01f, -2.516594294742349e+00f }, // d_x .k15_coeff = { -5.531234648285231e+01f, 7.666196018790744e+01f, -4.254301644877548e+01f, 1.191958597928930e+01f }, // phi .k16_coeff = { -8.603393557876432e+00f, 1.181868681749069e+01f, -6.519358011847959e+00f, 2.002836931783026e+00f }, // d_phi .k21_coeff = { 3.121841964126664e+02f, -2.644789946321499e+02f, 5.653973783920610e+01f, 1.306067415926613e+01f }, // theta .k22_coeff = { 9.751578045310433e+00f, -8.174866581419979e+00f, 1.060040492386880e+00f, 1.945460420856203e+00f }, // d_theta .k23_coeff = { -1.589159892148102e+01f, 3.771040781828523e+01f, -2.789168930865428e+01f, 8.354369470743295e+00f }, // x .k24_coeff = { -3.304075197263637e+01f, 5.411818719230526e+01f, -3.342861600971858e+01f, 9.256855471266778e+00f }, // d_x .k25_coeff = { 2.574491871362636e+02f, -2.771545105998671e+02f, 1.074894289176479e+02f, 3.130550754680395e+00f }, // phi .k26_coeff = { 4.162978395880715e+01f, -4.533986766238992e+01f, 1.794589550749570e+01f, 2.032213740678163e-01f }, // d_phi }, .jump_params = { .crouch_time_ms = 100, .launch_time_ms = 120, .retract_time_ms = 80, .land_time_ms = 300, .crouch_leg_length = 0.1f, .launch_force = 200.0f, .retract_leg_length = 0.1f, /* 收腿目标更短 */ .retract_force = -120.0f, /* 收腿前馈力加大 */ }, .theta = 0.0f, .x = 0.0f, .phi = 0.0f, }, .ai_param = { .can = BSP_FDCAN_2, .vision_id = 0x104, }, /* 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; }