321 lines
11 KiB
C
321 lines
11 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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#include "device/motor_dm.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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.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=50,
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.fric_motor_param[0] = {
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.can = BSP_CAN_2,
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.id = 0x201,
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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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.fric_motor_param[1] = {
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.can = BSP_CAN_2,
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.id = 0x202,
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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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.trig_motor_param = {
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.can = BSP_CAN_1,
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.id = 0x201,
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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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.gimbal_param = {
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.pid = {
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.yaw_omega = {
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.k = 1.0f,
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.p = 1.0f,
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.i = 0.3f,
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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 = 8.0f,
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.p = 3.0f,
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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 = 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 = 5.0f,
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.p = 5.0f,
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.i = 2.5f,
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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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},
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.mech_zero = {
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.yaw = 0.0f,
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.pit = 1.77f,
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},
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.travel = {
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.yaw = -1.0f,
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.pit = 0.8f,
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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_2,
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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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},
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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=10.0f, /* 位置环输出限制为角速度 rad/s */
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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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.yaw_omega={
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.k=1.0f,
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.p=0.8f,
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.i=0.1f,
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.d=0.0f,
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.i_limit=0.3f,
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.out_limit=1.0f, /* 速度环输出力矩限制 */
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.roll={
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.k=1.0f,
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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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.joint = 30.0f, // 关节电机滤波器截止频率
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.wheel = 50.0f, // 轮子电机滤波器截止频率
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.velocity_est = 10.0f, // 速度估计滤波器截止频率
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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 = 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 = { -2.521608956196071e+02f, 2.726920584021966e+02f, -1.226029917752676e+02f, -3.658425589113113e+00f }, // theta
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.k12_coeff = { -2.791745431179899e+00f, 2.977171588171382e+00f, -8.482847921716969e+00f, -2.549251989061084e-01f }, // d_theta
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.k13_coeff = { -7.117984035711224e+01f, 7.136358210118603e+01f, -2.482097503246936e+01f, -1.465382594689337e+00f }, // x
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.k14_coeff = { -5.096413946871127e+01f, 5.158481633857484e+01f, -1.949187011275690e+01f, -1.578480316034549e+00f }, // d_x
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.k15_coeff = { -5.143495490166011e+01f, 6.689655927757387e+01f, -3.271512900728912e+01f, 6.773814929578457e+00f }, // phi
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.k16_coeff = { -1.834269104867269e+01f, 2.340972691877904e+01f, -1.144818100011914e+01f, 2.495597855798016e+00f }, // d_phi
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.k21_coeff = { 7.774379313049623e+01f, -2.541134089584162e+01f, -2.498975065689273e+01f, 1.426556516484627e+01f }, // theta
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.k22_coeff = { 2.767476224142276e+00f, 2.139939778695216e-02f, -1.895904297557682e+00f, 1.658428058979244e+00f }, // d_theta
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.k23_coeff = { -7.402087120213977e+01f, 9.414895415370154e+01f, -4.552133085081052e+01f, 9.802187964966528e+00f }, // x
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.k24_coeff = { -7.810684593036375e+01f, 9.325962600072852e+01f, -4.231509773607639e+01f, 8.736511218580238e+00f }, // d_x
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.k25_coeff = { 1.628215249943350e+02f, -1.638967569586973e+02f, 5.714874400700918e+01f, 5.761974669276071e+00f }, // phi
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.k26_coeff = { 5.976470654409622e+01f, -6.012998591768613e+01f, 2.100604855465028e+01f, 1.219608179868111e+00f }, // d_phi
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},
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.theta = 0.0f,
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.x = 0.3f,
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.phi = -0.1f,
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.virtual_chassis_param = {
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.motors = {
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.can = BSP_CAN_1,
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.enable_id = 121,
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.joint_cmd_id = 122,
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.joint_feedback_base_id = 124,
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.wheel_left_id = 0x128,
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.wheel_right_id = 0x129,
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.wheel_left_feedback_id = 0x82,
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.wheel_right_feedback_id = 0x83,
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},
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.imu = {
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.can = BSP_CAN_1,
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.accl_id = 0x301,
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.gyro_id = 0x302,
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.euler_id = 0x303,
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.quat_id = 0x304,
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},
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},
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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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}
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