54 lines
1.6 KiB
C
54 lines
1.6 KiB
C
/*
|
|
* 配置相关
|
|
*/
|
|
|
|
/* Includes ----------------------------------------------------------------- */
|
|
#include "module/config.h"
|
|
#include "bsp/can.h"
|
|
#include "device/motor_rm.h"
|
|
#include "component/pid.h"
|
|
#include "component/user_math.h"
|
|
|
|
/* Private typedef ---------------------------------------------------------- */
|
|
/* Private define ----------------------------------------------------------- */
|
|
/* Private macro ------------------------------------------------------------ */
|
|
/* Private variables -------------------------------------------------------- */
|
|
|
|
/* Exported variables ------------------------------------------------------- */
|
|
|
|
// 机器人参数配置
|
|
Config_RobotParam_t robot_config = {
|
|
.shoot_param = {
|
|
.trig_motor_param = {
|
|
.can = BSP_CAN_1,
|
|
.id = 0x201,
|
|
.module = MOTOR_M2006,
|
|
.reverse = false,
|
|
.gear = true,
|
|
},
|
|
.trig_pid_param = {
|
|
.k = 12.0f,
|
|
.p = 1.0f,
|
|
.i = 0.0f,
|
|
.d = 0.0450000018f,
|
|
.i_limit = 1.0f,
|
|
.out_limit = 1.0f,
|
|
.d_cutoff_freq = -1.0f,
|
|
.range = M_2PI,
|
|
},
|
|
.num_trig_tooth = 8.0f,
|
|
.fric_radius = 0.03f,
|
|
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
|
|
}
|
|
};
|
|
|
|
/* 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;
|
|
} |