162 lines
5.3 KiB
C
162 lines
5.3 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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/* 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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.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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.joint_motors[0] = { // 左膝关节
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.can = BSP_CAN_1,
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.motor_id = 124,
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.host_id = 130,
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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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.joint_motors[1] = { // 左髋关节
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.can = BSP_CAN_1,
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.motor_id = 125,
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.host_id = 130,
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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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.joint_motors[2] = { // 右髋关节
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.can = BSP_CAN_1,
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.motor_id = 126,
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.host_id = 130,
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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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.joint_motors[3] = { // 右膝关节
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.can = BSP_CAN_1,
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.motor_id = 127,
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.host_id = 130,
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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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.wheel_motors[0] = { // 左轮电机
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.can = BSP_CAN_1,
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.id = 1, // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
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.module = MOTOR_LK_MF9025,
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.reverse = false,
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},
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.wheel_motors[1] = { // 右轮电机
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.can = BSP_CAN_1,
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.id = 2, // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
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.module = MOTOR_LK_MF9025,
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.reverse = true,
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},
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.chassis_param = {
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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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.motor_id = 124,
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.host_id = 130,
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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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{ // 左膝关节
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.can = BSP_CAN_1,
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.motor_id = 125,
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.host_id = 130,
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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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{ // 右膝关节
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.can = BSP_CAN_1,
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.motor_id = 126,
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.host_id = 130,
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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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{ // 右髋关节
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.can = BSP_CAN_1,
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.motor_id = 127,
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.host_id = 130,
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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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},
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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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.module = MOTOR_LK_MF9025,
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.reverse = true,
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},
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},
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.mech_zero_yaw = 0.0f,
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.vmc_param = {
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{ // 左腿
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.leg_1 = 0.206f, // 前大腿长度 (m)
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.leg_2 = 0.258f, // 前小腿长度 (m)
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.leg_3 = 0.206f, // 后小腿长度 (m)
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.leg_4 = 0.258f, // 后大腿长度 (m)
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.hip_length = 0.0f // 髋宽 (m)
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},
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{ // 右腿
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.leg_1 = 0.206f, // 前大腿长度 (m)
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.leg_2 = 0.258f, // 前小腿长度 (m)
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.leg_3 = 0.206f, // 后小腿长度 (m)
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.leg_4 = 0.258f, // 后大腿长度 (m)
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.hip_length = 0.0f // 髋宽 (m)
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}
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},
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.lqr_gains ={
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.K = {
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{ -1.3677, -12.022, 4.0676, -2.6185, -66.132, -4.2516, -1.4083, -0.051404, -57.561, -5.3641 },
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{ -1.3677, -12.022, -4.0676, 2.6185, -1.4083, -0.051404, -66.132, -4.2516, -57.561, -5.3641 },
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{ 0.14689, 1.2865, -63.224, -12.495, 6.2265, -0.13959, 1.2635, 0.48938, -78.822, -5.121 },
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{ 0.14689, 1.2865, 63.224, 12.495, 1.2635, 0.48938, 6.2265, -0.13959, -78.822, -5.121 }
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}
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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 = 2.5f, // 轮毂电机最大力矩 2.5Nm
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}
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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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Config_RobotParam_t* Config_GetRobotParam(void) {
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return &robot_config;
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} |