509 lines
19 KiB
C
509 lines
19 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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.ref_screen={
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.width=1920,
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.height=1080,
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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 = 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 = 3.23056364f,
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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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.basic={
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.projectileType=SHOOT_PROJECTILE_17MM,
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.fric_num=2,
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.extra_deceleration_ratio=1.0f,
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.num_trig_tooth=8,
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.shot_freq=1.0f,
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.shot_burst_num=3,
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.ratio_multilevel = {1.0f},
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},
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.jamDetection={
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.enable=true,
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.threshold=200.0f,
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.suspectedTime=0.5f,
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},
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.heatControl={
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.enable=true,
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.nmax=18.0f, // 最大射频 Hz
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.Hwarn=200.0f, // 热量预警值
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.Hsatu=100.0f, // 热量饱和值
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.Hthres=50.0f, // 热量阈值
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},
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.motor={
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.fric = {
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{
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.param = {
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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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.level=1,
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},
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{
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.param = {
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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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.level=1,
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}
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},
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.trig = {
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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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},
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.pid={
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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=0.0f,
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.p=0.0f,
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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=0.0f,
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.d_cutoff_freq=0.0f,
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.range=-1.0f,
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},
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.trig_2006 = {
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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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.trig_omg_2006 = {
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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_3508 = {
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.k=0.5f,
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.p=1.8f,
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.i=0.3f,
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.d=0.1f,
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.i_limit=0.15f,
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.out_limit=1.0f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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.trig_omg_3508 = {
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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=0.0f,
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.i_limit=0.0f,
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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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},
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.filter={
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.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.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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},
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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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.rotor={
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.k=1.0f,
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.p=0.5f,
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.i=0.0f,
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.d=0.01f,
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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=-1.0f, /* 角速度不需要循环误差处理 */
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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, 1.33022018f, 1.13195965f}, /* 关节电机零点偏移 */
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.mech_zero_yaw = 2.96925735f, /* 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 = 0.20f, /* 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 = 0.36f, /* 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 = -0.01f, /* 离地摆角目标 (rad) */
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},
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.rotor_ctrl = {
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.max_spin_speed = 5.0236f, /* 最大旋转角速度 (rad/s)，0.5rpm */
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.max_trans_speed = 1.5f, /* 小陀螺时最大平移速度 (m/s) */
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.spin_accel = 5.0f,
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/* 旋转加速度 (rad/s²) */
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.spin_decel = 8.0f, /* 退出减速度 (rad/s²)，比加速更快 */
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.align_threshold = 0.15f, /* 退出对齐阈值 (rad)，约8.6° */
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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 = { -1.997928012118380e+02f, 2.358970856133577e+02f, -1.221432656066952e+02f, -3.660884265594530e+00f }, // theta
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.k12_coeff = { 1.144642140244768e+00f, -6.781143989723293e-01f, -8.286867905694857e+00f, -3.233743818654922e-01f }, // d_theta
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.k13_coeff = { -2.920908857554099e+01f, 3.294053235814564e+01f, -1.331127106026891e+01f, -2.036633181450379e+00f }, // x
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.k14_coeff = { -2.202395151966686e+01f, 2.624258394298977e+01f, -1.238392622003398e+01f, -2.516594294742349e+00f }, // d_x
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.k15_coeff = { -5.531234648285231e+01f, 7.666196018790744e+01f, -4.254301644877548e+01f, 1.191958597928930e+01f }, // phi
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.k16_coeff = { -8.603393557876432e+00f, 1.181868681749069e+01f, -6.519358011847959e+00f, 2.002836931783026e+00f }, // d_phi
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.k21_coeff = { 3.121841964126664e+02f, -2.644789946321499e+02f, 5.653973783920610e+01f, 1.306067415926613e+01f }, // theta
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.k22_coeff = { 9.751578045310433e+00f, -8.174866581419979e+00f, 1.060040492386880e+00f, 1.945460420856203e+00f }, // d_theta
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.k23_coeff = { -1.589159892148102e+01f, 3.771040781828523e+01f, -2.789168930865428e+01f, 8.354369470743295e+00f }, // x
|
||
.k24_coeff = { -3.304075197263637e+01f, 5.411818719230526e+01f, -3.342861600971858e+01f, 9.256855471266778e+00f }, // d_x
|
||
.k25_coeff = { 2.574491871362636e+02f, -2.771545105998671e+02f, 1.074894289176479e+02f, 3.130550754680395e+00f }, // phi
|
||
.k26_coeff = { 4.162978395880715e+01f, -4.533986766238992e+01f, 1.794589550749570e+01f, 2.032213740678163e-01f }, // d_phi
|
||
},
|
||
|
||
|
||
.jump = {
|
||
.crouch_time_ms = 500,
|
||
.launch_time_ms = 300,
|
||
.retract_time_ms = 500,
|
||
.land_time_ms = 500,
|
||
.crouch_leg_length = 0.13f, /* 不用蹲太低 */
|
||
.launch_force = 20.0f, /* 起跳力减小 */
|
||
.retract_leg_length = 0.12f, /* 收腿目标 */
|
||
.retract_force = -20.0f, /* 收腿前馈力减小 */
|
||
},
|
||
|
||
.lqr_offset = {
|
||
.theta = 0.0f,
|
||
.x = 0.0f,
|
||
.phi = 0.0f,
|
||
},
|
||
|
||
},
|
||
|
||
.ai_param = {
|
||
.can = BSP_FDCAN_2,
|
||
.vision_id = 0x104,
|
||
},
|
||
|
||
.cmd_param = {
|
||
.source_priority = {
|
||
#if CMD_ENABLE_SRC_RC
|
||
[0] = CMD_SRC_RC,
|
||
#endif
|
||
#if CMD_ENABLE_SRC_PC
|
||
[1] = CMD_SRC_PC,
|
||
#endif
|
||
},
|
||
.sensitivity = {
|
||
.mouse_sens = 60.0f,
|
||
.move_sens = 1.0f,
|
||
.move_fast_mult = 2.0f,
|
||
.move_slow_mult = 0.4f,
|
||
},
|
||
.rc_mode_map = {
|
||
#if CMD_ENABLE_MODULE_GIMBAL
|
||
.gimbal_sw_up = GIMBAL_MODE_RELAX,
|
||
.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
|
||
.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
|
||
.balance_sw_up = CHASSIS_MODE_RELAX,
|
||
.balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
|
||
.balance_sw_down = CHASSIS_MODE_BALANCE_ROTOR,
|
||
#endif
|
||
},
|
||
},
|
||
|
||
/* USER CODE END robot_config */
|
||
};
|
||
|
||
/* 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;
|
||
}
|