268 lines
9.2 KiB
C
268 lines
9.2 KiB
C
/*
|
||
* 配置相关
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "module/config.h"
|
||
#include <stdbool.h>
|
||
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
|
||
/* Exported variables ------------------------------------------------------- */
|
||
|
||
/**
|
||
* @brief 机器人参数配置
|
||
* @note 在此配置机器人参数
|
||
*/
|
||
Config_RobotParam_t robot_config = {
|
||
/* USER CODE BEGIN robot_config */
|
||
.shoot_param = {
|
||
.trig_step_angle=M_2PI/8,
|
||
.shot_delay_time=0.5f,
|
||
.shot_burst_num=20,
|
||
.fric_motor_param[0] = {
|
||
.can = BSP_CAN_1,
|
||
.id = 0x201,
|
||
.module = MOTOR_M3508,
|
||
.reverse = false,
|
||
.gear=false,
|
||
},
|
||
.fric_motor_param[1] = {
|
||
.can = BSP_CAN_1,
|
||
.id = 0x202,
|
||
.module = MOTOR_M3508,
|
||
.reverse = true,
|
||
.gear=false,
|
||
},
|
||
.trig_motor_param = {
|
||
.can = BSP_CAN_1,
|
||
.id = 0x203,
|
||
.module = MOTOR_M2006,
|
||
.reverse = true,
|
||
.gear=true,
|
||
},
|
||
.fric_follow = {
|
||
.k=1.0f,
|
||
.p=1.8f,
|
||
.i=0.0f,
|
||
.d=0.0f,
|
||
.i_limit=0.0f,
|
||
.out_limit=0.9f,
|
||
.d_cutoff_freq=30.0f,
|
||
.range=-1.0f,
|
||
},
|
||
|
||
.fric_err = {
|
||
.k=1.0f,
|
||
.p=4.0f,
|
||
.i=0.4f,
|
||
.d=0.04f,
|
||
.i_limit=0.25f,
|
||
.out_limit=0.25f,
|
||
.d_cutoff_freq=40.0f,
|
||
.range=-1.0f,
|
||
},
|
||
.trig_omg = {
|
||
.k=1.0f,
|
||
.p=1.5f,
|
||
.i=0.3f,
|
||
.d=0.5f,
|
||
.i_limit=0.2f,
|
||
.out_limit=0.9f,
|
||
.d_cutoff_freq=-1.0f,
|
||
.range=-1.0f,
|
||
},
|
||
.trig = {
|
||
.k=1.0f,
|
||
.p=1.0f,
|
||
.i=0.1f,
|
||
.d=0.05f,
|
||
.i_limit=0.8f,
|
||
.out_limit=0.5f,
|
||
.d_cutoff_freq=-1.0f,
|
||
.range=M_2PI,
|
||
},
|
||
.filter.fric = {
|
||
.in = 30.0f,
|
||
.out = 30.0f,
|
||
},
|
||
.filter.trig = {
|
||
.in = 30.0f,
|
||
.out = 30.0f,
|
||
},
|
||
},
|
||
|
||
.chassis_param = {
|
||
.yaw={
|
||
.k=0.0f,
|
||
.p=1.0f,
|
||
.i=0.0f,
|
||
.d=0.3f,
|
||
.i_limit=0.0f,
|
||
.out_limit=1.0f,
|
||
.d_cutoff_freq=30.0f,
|
||
.range=M_2PI, /* 2*PI，用于处理角度循环误差 */
|
||
},
|
||
|
||
.roll={
|
||
.k=0.2f,
|
||
.p=0.5f, /* 横滚角比例系数 */
|
||
.i=0.01f, /* 横滚角积分系数 */
|
||
.d=0.01f, /* 横滚角微分系数 */
|
||
.i_limit=0.2f, /* 积分限幅 */
|
||
.out_limit=1.0f, /* 输出限幅，腿长差值限制 */
|
||
.d_cutoff_freq=30.0f, /* 微分截止频率 */
|
||
.range=-1.0f, /* 不使用循环误差处理 */
|
||
},
|
||
|
||
.leg_length={
|
||
.k = 40.0f,
|
||
.p = 20.0f,
|
||
.i = 0.01f,
|
||
.d = 2.0f,
|
||
.i_limit = 0.0f,
|
||
.out_limit = 200.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = -1.0f,
|
||
},
|
||
|
||
.leg_theta={
|
||
.k=5.0f,
|
||
.p=2.0f, /* 摆角比例系数 */
|
||
.i=0.0f, /* 摆角积分系数 */
|
||
.d=0.0f, /* 摆角微分系数 */
|
||
.i_limit=0.0f, /* 积分限幅 */
|
||
.out_limit=0.05f, /* 输出限幅，腿长差值限制 */
|
||
.d_cutoff_freq=30.0f, /* 微分截止频率 */
|
||
.range=-1.0f, /* 不使用循环误差处理 */
|
||
},
|
||
|
||
.tp={
|
||
.k=4.0f,
|
||
.p=3.0f, /* 俯仰角比例系数 */
|
||
.i=0.0f, /* 俯仰角积分系数 */
|
||
.d=0.0f, /* 俯仰角微分系数 */
|
||
.i_limit=0.0f, /* 积分限幅 */
|
||
.out_limit=10.0f, /* 输出限幅，腿长差值限制 */
|
||
.d_cutoff_freq=30.0f, /* 微分截止频率 */
|
||
.range=-1.0f, /* 不使用循环误差处理 */
|
||
},
|
||
|
||
.low_pass_cutoff_freq = {
|
||
.in = 30.0f,
|
||
.out = 30.0f,
|
||
},
|
||
|
||
.yaw_motor = { // 云台Yaw轴电机
|
||
.can = BSP_CAN_1,
|
||
.can_id = 0x1,
|
||
.master_id = 0x11,
|
||
.module = MOTOR_DM_J4310,
|
||
.reverse = false,
|
||
},
|
||
|
||
.joint_param = {
|
||
{ // 左髋关节
|
||
.can = BSP_CAN_3,
|
||
.motor_id = 124,
|
||
.host_id = 0xFF,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 右髋关节
|
||
.can = BSP_CAN_3,
|
||
.motor_id = 125,
|
||
.host_id = 0xFF,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 左膝关节
|
||
.can = BSP_CAN_3,
|
||
.motor_id = 126,
|
||
.host_id = 0xFF,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = true,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 右膝关节
|
||
.can = BSP_CAN_3,
|
||
.motor_id = 127,
|
||
.host_id = 0xFF,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = true,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
},
|
||
|
||
.wheel_param = {
|
||
{ // 左轮电机
|
||
.can = BSP_CAN_3,
|
||
.id = 0x142,
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = false,
|
||
},
|
||
{ // 右轮电机
|
||
.can = BSP_CAN_3,
|
||
.id = 0x141,
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = true,
|
||
},
|
||
},
|
||
|
||
.mech_zero_yaw = 4.34085676f, /* 250.5度，机械零点 */
|
||
|
||
.vmc_param = {
|
||
{ // 左腿
|
||
.leg_1 = 0.215f, // 后髋连杆长度 (L1) (m)
|
||
.leg_2 = 0.258f, // 后膝连杆长度 (L2) (m)
|
||
.leg_3 = 0.258f, // 前膝连杆长度 (L3) (m)
|
||
.leg_4 = 0.215f, // 前髋连杆长度 (L4) (m)
|
||
.hip_length = 0.0f // 髋宽 (L5) (m)
|
||
},
|
||
{ // 右腿
|
||
.leg_1 = 0.215f, // 后髋连杆长度 (L1) (m)
|
||
.leg_2 = 0.258f, // 后膝连杆长度 (L2) (m)
|
||
.leg_3 = 0.258f, // 前膝连杆长度 (L3) (m)
|
||
.leg_4 = 0.215f, // 前髋连杆长度 (L4) (m)
|
||
.hip_length = 0.0f // 髋宽 (L5) (m)
|
||
}
|
||
},
|
||
|
||
.lqr_gains = {
|
||
.k11_coeff = { -2.111003343424443e+02f, 2.534552823281283e+02f, -1.288428090302336e+02f, -4.837794661314790e-01f }, // theta
|
||
.k12_coeff = { 9.842131763802227e+00f, -7.572331320496771e+00f, -6.747008033464407e+00f, 2.794374462854655e-02f }, // d_theta
|
||
.k13_coeff = { -7.026854551050478e+01f, 7.582881862804882e+01f, -2.920474536554779e+01f, 1.123343465922494e+00f }, // x
|
||
.k14_coeff = { -7.955300118741869e+01f, 8.683186601398823e+01f, -3.503519879783562e+01f, 1.204200953017506e+00f }, // d_x
|
||
.k15_coeff = { 2.214748921482655e+01f, -5.719424594843836e+00f, -8.215498046486028e+00f, 3.357225411090161e+00f }, // phi
|
||
.k16_coeff = { -2.588732118811617e-01f, 3.189187555191166e+00f, -3.235989186139448e+00f, 9.848256812196189e-01f }, // d_phi
|
||
.k21_coeff = { 3.783375900877637e+02f, -3.033633007638497e+02f, 4.903946574528503e+01f, 1.550109363173939e+01f }, // theta
|
||
.k22_coeff = { 2.878430656512739e+01f, -2.993892895824752e+01f, 1.019545567095573e+01f, 1.119137437173934e+00f }, // d_theta
|
||
.k23_coeff = { 2.518975783541210e+01f, 2.088553619504979e+00f, -1.929185285401291e+01f, 8.558202445583612e+00f }, // x
|
||
.k24_coeff = { 2.519335578848752e+01f, 5.878465085842500e+00f, -2.359290011046876e+01f, 1.050067818606354e+01f }, // d_x
|
||
.k25_coeff = { 1.146427691025439e+02f, -1.303101485018965e+02f, 5.234994297700838e+01f, 1.889931627651257e+00f }, // phi
|
||
.k26_coeff = { 3.214791991578748e+01f, -3.467989029865478e+01f, 1.318125503363052e+01f, -3.471228203459202e-01f }, // d_phi
|
||
},
|
||
.theta = 0.0f,
|
||
.x = 0.0f,
|
||
.phi = -0.1f,
|
||
|
||
}
|
||
/* 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;
|
||
} |