252 lines
8.5 KiB
C
252 lines
8.5 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/config.h"
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#include "bsp/can.h"
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<<<<<<< HEAD
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=======
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#include "device/motor_dm.h"
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#include "device/rc_can.h"
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>>>>>>> main
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Exported variables ------------------------------------------------------- */
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// 机器人参数配置
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Config_RobotParam_t robot_config = {
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<<<<<<< HEAD
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.joint_param =
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{
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{
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// 左髋关节
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.can = BSP_CAN_2,
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=======
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.imu_param = {
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.can = BSP_CAN_2,
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.can_id = 0x6FF,
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.device_id = 0x42,
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.master_id = 0x43,
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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=1.2f,
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.i=0.0f,
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.d=0.05f,
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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=5.0f, /* 横滚角比例系数 */
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.i=0.0f, /* 横滚角积分系数 */
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.d=0.2f, /* 横滚角微分系数 */
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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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.leg_length={
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.k = 20.0f,
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.p = 10.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 0.0f,
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.out_limit = 100.0f,
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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=1.0f,
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.p=5.0f, /* 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=1.0f,
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.p=2.0f, /* 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=2.0f, /* 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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.joint_motors = {
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{ // 左髋关节
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.can = BSP_CAN_1,
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>>>>>>> main
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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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<<<<<<< HEAD
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{
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// 左膝关节
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.can = BSP_CAN_2,
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=======
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{ // 左膝关节
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.can = BSP_CAN_1,
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>>>>>>> main
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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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<<<<<<< HEAD
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{
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// 右膝关节
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.can = BSP_CAN_2,
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=======
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{ // 右膝关节
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.can = BSP_CAN_1,
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>>>>>>> main
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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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<<<<<<< HEAD
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{
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// 右髋关节
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.can = BSP_CAN_2,
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=======
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{ // 右髋关节
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.can = BSP_CAN_1,
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>>>>>>> main
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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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<<<<<<< HEAD
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.wheel_param =
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{
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{
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// 左轮
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.can = BSP_CAN_2,
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.id = 0x141, // LK电机ID
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.module = MOTOR_LK_MF9025,
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.reverse = false,
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},
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{
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// 右轮
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.can = BSP_CAN_2,
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.id = 0x142, // LK电机ID
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=======
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.wheel_motors = {
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{ // 左轮电机
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.can = BSP_CAN_1,
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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_1,
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.id = 0x142,
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>>>>>>> main
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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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<<<<<<< HEAD
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=======
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.yaw_motor = { // 云台Yaw轴电机
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.can = BSP_CAN_2,
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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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.mech_zero_yaw = 1.20564249f, /* 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 = { -1.508572585852218e+02f, 1.764949368139731e+02f, -9.850368126414553e+01f, -1.786139736968997e+00f }, // theta
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.k12_coeff = { 6.466280284100411e+00f, -6.582699834130516e+00f, -7.131858380770703e+00f, -2.414590752579311e-01f }, // d_theta
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.k13_coeff = { -7.182568574598301e+01f, 7.405968297046749e+01f, -2.690651220502175e+01f, -1.029850390463813e-01f }, // x
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.k14_coeff = { -7.645548919162933e+01f, 7.988837668034076e+01f, -3.105733981791483e+01f, -4.296847184537235e-01f }, // d_x
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.k15_coeff = { -9.403058188674812e+00f, 2.314767704216332e+01f, -1.651965553704901e+01f, 3.907902082528794e+00f }, // phi
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.k16_coeff = { -4.023111056381187e+00f, 6.154951770170482e+00f, -3.705537084098432e+00f, 8.264904615264155e-01f }, // d_phi
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.k21_coeff = { 1.254775776629822e+02f, -8.971732439896309e+01f, 4.744038360386896e+00f, 1.088353622361175e+01f }, // theta
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.k22_coeff = { 1.061139172689013e+01f, -1.011235824540459e+01f, 3.034478775177782e+00f, 1.254920921163464e+00f }, // d_theta
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.k23_coeff = { -2.675556963667067e+01f, 4.511381902505539e+01f, -2.800741296230217e+01f, 7.647205920058282e+00f }, // x
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.k24_coeff = { -4.067721095665326e+01f, 6.068996620706580e+01f, -3.488384556019462e+01f, 9.374136714284193e+00f }, // d_x
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.k25_coeff = { 7.359316334738203e+01f, -7.896223244854855e+01f, 2.961892943386949e+01f, 4.406632136721399e+00f }, // phi
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.k26_coeff = { 1.624843000878248e+01f, -1.680831323767654e+01f, 6.018754311678180e+00f, 2.337719500754984e-01f }, // d_phi
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},
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.lqr_param.max_joint_torque = 20.0f, // 关节电机最大力矩 20Nm
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.lqr_param.max_wheel_torque = 4.5f, // 轮毂电机最大力矩 2.5Nm
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},
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.rc_can_param = {
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.can = BSP_CAN_2,
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.mode = RC_CAN_MODE_SLAVE,
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.joy_id = 0x250,
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.sw_id = 0x251,
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.mouse_id = 0x252,
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.keyboard_id = 0x253,
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},
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>>>>>>> main
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};
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/* Private function prototypes ---------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 获取机器人配置参数
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* @return 机器人配置参数指针
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*/
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<<<<<<< HEAD
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Config_RobotParam_t *Config_GetRobotParam(void) { return &robot_config; }
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=======
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Config_RobotParam_t* Config_GetRobotParam(void) {
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return &robot_config;
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}
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>>>>>>> main
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