401 lines
13 KiB
C
401 lines
13 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 <stdbool.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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/**
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* @brief 机器人参数配置
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* @note 在此配置机器人参数
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*/
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Config_RobotParam_t robot_config = {
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/* USER CODE BEGIN robot_config */
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.gimbal_param = {
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.pid = {
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.yaw_omega = {
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.k = 0.25f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f,
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},
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.yaw_angle = {
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.k = 7.0f,
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.p = 3.5f,
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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 = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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.pit_omega = {
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.k = 0.25f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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.d_cutoff_freq = -1.0f,
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.range = -1.0f,
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},
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.pit_angle = {
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.k = 2.5f,
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.p = 5.0f,
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.i = 0.2f,
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.d = 0.01f,
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.i_limit = 0.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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},
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.mech_zero = {
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.yaw = 0.0f,
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.pit = 2.2f,
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},
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.travel = {
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.yaw = -1.0f,
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.pit = 0.85f,
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},
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.low_pass_cutoff_freq = {
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.out = -1.0f,
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.gyro = 1000.0f,
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},
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.pit_motor ={
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.can = BSP_CAN_1,
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.id = 0x206,
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.gear = false,
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.module = MOTOR_GM6020,
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.reverse = true,
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},
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.yaw_motor = {
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.can = BSP_CAN_1,
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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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.imu = {
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.can = BSP_CAN_2,
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.accl_id = 0x100, // 加速度计 (十进制256)
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.gyro_id = 0x101, // 陀螺仪 (十进制257)
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.eulr_id = 0x102, // 欧拉角 (十进制258)
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.quat_id = 0x103 // 四元数 (十进制259)
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},
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},
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.shoot_param = {
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.trig_step_angle=M_2PI/8,
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.shot_delay_time=0.05f,
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.shot_burst_num=1,
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.fric_motor_param[0] = {
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.can = BSP_CAN_1,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear=false,
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},
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.fric_motor_param[1] = {
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.can = BSP_CAN_1,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = true,
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.gear=false,
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},
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.trig_motor_param = {
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M2006,
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.reverse = true,
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.gear=true,
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},
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.fric_follow = {
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.k=1.0f,
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.p=1.5f,
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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=0.9f,
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.d_cutoff_freq=30.0f,
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.range=-1.0f,
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},
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.fric_err = {
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.k=1.0f,
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.p=4.0f,
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.i=0.4f,
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.d=0.04f,
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.i_limit=0.25f,
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.out_limit=0.25f,
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.d_cutoff_freq=40.0f,
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.range=-1.0f,
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},
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.trig_omg = {
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.k=1.0f,
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.p=1.5f,
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.i=0.3f,
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.d=0.5f,
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.i_limit=0.2f,
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.out_limit=0.9f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.trig = {
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.k=1.0f,
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.p=1.0f,
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.i=0.1f,
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.d=0.05f,
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.i_limit=0.8f,
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.out_limit=0.5f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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.filter.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.filter.trig = {
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.in = 30.0f,
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.out = 30.0f,
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},
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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=1.0f,
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.i=0.0f,
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.d=0.3f,
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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=0.15f,
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.p=0.3f, /* 横滚角腿长补偿比例系数 (降低避免抖动) */
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.i=0.0f, /* 横滚角腿长补偿积分系数 (关闭避免震荡) */
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.d=0.01f, /* 横滚角腿长补偿微分系数 (关闭避免噪声放大) */
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.i_limit=0.0f, /* 积分限幅 */
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.out_limit=0.03f, /* 输出限幅，腿长差值限制(m) 降低避免过度补偿 */
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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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.roll_force={
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.k=5.0f,
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.p=10.0f, /* 横滚角力补偿比例系数 (大幅降低避免抖动) */
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.i=0.0f, /* 横滚角力补偿积分系数 */
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.d=5.0f, /* 横滚角力补偿微分系数 (降低避免高频抖动) */
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.i_limit=0.0f, /* 积分限幅 */
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.out_limit=20.0f, /* 输出限幅，力补偿限制(N) 降低避免过度补偿 */
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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 = 40.0f,
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.p = 50.0f,
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.i = 0.01f,
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.d = 2.0f,
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.i_limit = 0.0f,
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.out_limit = 500.0f,
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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=5.0f,
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.p=2.0f, /* 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=4.0f,
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.p=3.0f, /* 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=10.0f, /* 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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.yaw_motor = { // 云台Yaw轴电机
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.can = BSP_CAN_1,
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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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.joint_param = {
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{ // 左髋关节
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.can = BSP_CAN_3,
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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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{ // 右髋关节
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.can = BSP_CAN_3,
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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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{ // 左膝关节
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.can = BSP_CAN_3,
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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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{ // 右膝关节
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.can = BSP_CAN_3,
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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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.wheel_param = {
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{ // 左轮电机
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.can = BSP_CAN_3,
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.id = 0x142,
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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_3,
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.id = 0x141,
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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 = {
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.wheel_radius = 0.068f,
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.wheel_gear_ratio = 4.5f,
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.hip_width = 0.423f, /* 髋宽，即两腿间距 (m)，用于Roll几何补偿 */
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.joint_zero = {0.0f, 0.0f, 3.84780002f, -1.16999996f}, /* 关节电机零点偏移 */
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.mech_zero_yaw = 1.78040409f, /* 机械零点 */
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},
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.leg = {
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.base_length = 0.16f, /* 基础腿长 (m) */
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.length_range = 0.14f, /* 腿长调节范围 (m) */
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.min_length = 0.14f, /* 最小腿长 (m) */
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.max_length = 0.32f, /* 最大腿长 (m) */
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.left_base_force = 65.0f, /* 左腿基础支撑力 (N) */
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.right_base_force = 65.0f, /* 右腿基础支撑力 (N) */
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},
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.motion = {
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.max_acceleration = 5.0f, /* 最大加速度 (m/s^2) */
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.non_contact_theta = 0.15f, /* 离地摆角目标 (rad) */
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},
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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 = { -1.040735943750787e+02f, 1.695336079315308e+02f, -1.062722318533942e+02f, -2.036009410634798e+00f }, // theta
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.k12_coeff = { 6.548762430498480e+00f, -1.562716155412672e+00f, -7.086308436992302e+00f, -6.164003859622520e-02f }, // d_theta
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.k13_coeff = { -1.776351353814282e+00f, 8.427220270224590e+00f, -6.393133271442364e+00f, -3.713664477519095e-01f }, // x
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.k14_coeff = { 1.359647364468941e+00f, 7.913856571908151e+00f, -7.833208725786592e+00f, -7.546329731077974e-01f }, // d_x
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.k15_coeff = { 1.429505786398442e+02f, -7.876047039197037e+01f, -2.554303654551070e+01f, 2.212282866593371e+01f }, // phi
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.k16_coeff = { -1.997399106727281e+00f, 5.001824399333104e+00f, -4.690069699025218e+00f, 2.037393422553355e+00f }, // d_phi
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.k21_coeff = { 1.284394973362934e+03f, -1.125809129491189e+03f, 2.348843302245760e+02f, 3.746664923821130e+01f }, // theta
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.k22_coeff = { 9.516046669246039e+01f, -8.559942886066267e+01f, 1.574391836522604e+01f, 6.170486282781792e+00f }, // d_theta
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.k23_coeff = { 9.476707653135801e+01f, -6.059169561164515e+01f, -6.008849130724805e+00f, 9.727194772869312e+00f }, // x
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.k24_coeff = { 5.978001968081441e+01f, -1.457082826094126e+01f, -3.168814217801549e+01f, 1.653069221109999e+01f }, // d_x
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.k25_coeff = { 5.255568939661119e+02f, -9.182500565347966e+02f, 5.280210105496553e+02f, -2.568368526903880e+00f }, // phi
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.k26_coeff = { 2.647280264629447e+01f, -4.880209725998817e+01f, 3.000044051909971e+01f, -1.227901680130401e+00f }, // d_phi
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},
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.jump = {
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.crouch_time_ms = 500,
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.launch_time_ms = 300,
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.retract_time_ms = 500,
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.land_time_ms = 500,
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.crouch_leg_length = 0.13f, /* 不用蹲太低 */
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.launch_force = 20.0f, /* 起跳力减小 */
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.retract_leg_length = 0.12f, /* 收腿目标 */
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.retract_force = -20.0f, /* 收腿前馈力减小 */
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},
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.lqr_offset = {
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.theta = 0.0f,
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.x = 0.0f,
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.phi = 0.0f,
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},
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},
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.ai_param = {
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.can = BSP_FDCAN_2,
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.vision_id = 0x104,
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},
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/* USER CODE END robot_config */
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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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} |