268 lines
9.2 KiB
C
268 lines
9.2 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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.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=1.8f,
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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=0.0f,
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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=0.2f,
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.p=0.5f, /* 横滚角比例系数 */
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.i=0.01f, /* 横滚角积分系数 */
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.d=0.01f, /* 横滚角微分系数 */
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.i_limit=0.2f, /* 积分限幅 */
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.out_limit=1.0f, /* 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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.leg_length={
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.k = 40.0f,
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.p = 20.0f,
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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 = 200.0f,
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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_zero_yaw = 4.34085676f, /* 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 = { -2.844277590546524e+02f, 3.014647915495374e+02f, -1.268350617667978e+02f, -3.081795747371510e+00f }, // theta
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.k12_coeff = { -3.549555833965762e+00f, 4.386109489290642e+00f, -8.231027185636849e+00f, -1.385726427113662e-01f }, // d_theta
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.k13_coeff = { -7.526831317875141e+01f, 7.503437037461828e+01f, -2.586278102813240e+01f, -2.882206207079063e-01f }, // x
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.k14_coeff = { -6.463718727551078e+01f, 6.474653251665229e+01f, -2.345655849302561e+01f, -4.576568180320017e-01f }, // d_x
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.k15_coeff = { -1.724417956662031e+01f, 2.623364741718471e+01f, -1.364297468210267e+01f, 2.161483799244492e+00f }, // phi
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.k16_coeff = { -1.670817080995841e+01f, 2.265762117831611e+01f, -1.161008984543497e+01f, 2.496364045937191e+00f }, // d_phi
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.k21_coeff = { 7.413511085596214e+01f, -6.090178313593463e+00f, -4.039446413615985e+01f, 1.653501139374634e+01f }, // theta
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.k22_coeff = { 6.411680140494978e+00f, -3.006095633385133e+00f, -1.177334020684990e+00f, 1.672016772859867e+00f }, // d_theta
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.k23_coeff = { -5.915654230562277e+01f, 7.939714736323532e+01f, -4.009665367872189e+01f, 8.868997496924505e+00f }, // x
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.k24_coeff = { -6.361086354133386e+01f, 8.119104026481590e+01f, -3.922514760493152e+01f, 8.469126805164274e+00f }, // d_x
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.k25_coeff = { 5.672537764809064e+01f, -5.809781196995141e+01f, 2.039529228765693e+01f, 5.636457827688945e+00f }, // phi
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.k26_coeff = { 7.417061748885547e+01f, -7.440121006735944e+01f, 2.577732090617134e+01f, 8.817723457684845e-01f }, // d_phi
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},
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.theta = 0.0f,
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.x = 0.0f,
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.phi = -0.1f,
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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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} |