111 lines
4.1 KiB
C
111 lines
4.1 KiB
C
/*
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ctrl_chassis Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/can.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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#include "device/virtual_chassis.h"
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#include "module/config.h"
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#include "module/balance_chassis.h"
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/* USER INCLUDE END */
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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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/* USER STRUCT BEGIN */
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Chassis_t chassis;
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Chassis_CMD_t chassis_cmd = {
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.mode = CHASSIS_MODE_RECOVER, // 改为RECOVER模式，让电机先启动
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.move_vec = {
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.vx = 0.0f,
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.vy = 0.0f,
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.wz = 0.0f,
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},
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.height = 0.0f,
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};
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Chassis_IMU_t chassis_imu;
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Virtual_Chassis_t virtual_chassis; // 添加虚拟底盘设备
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_chassis(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
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// 初始化虚拟底盘设备
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Virtual_Chassis_Init(&virtual_chassis, &Config_GetRobotParam()->virtual_chassis_param);
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Virtual_Chassis_Enable(&virtual_chassis); // 使能虚拟底盘
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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// 更新虚拟底盘数据
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Virtual_Chassis_Update(&virtual_chassis);
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// 从虚拟底盘获取IMU数据
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Virtual_Chassis_IMUFeedback_t *virtual_imu = Virtual_Chassis_GetIMUFeedback(&virtual_chassis);
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if (virtual_imu != NULL && virtual_imu->online) {
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chassis_imu.accl = virtual_imu->accl;
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chassis_imu.gyro = virtual_imu->gyro;
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chassis_imu.euler = virtual_imu->euler;
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chassis.feedback.imu = chassis_imu;
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} else {
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// 如果虚拟底盘IMU离线，从消息队列获取IMU数据作为备用
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if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
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chassis.feedback.imu = chassis_imu;
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}
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}
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// 从虚拟底盘获取关节电机数据
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for (int i = 0; i < 4; i++) {
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Virtual_Chassis_MotorFeedback_t *virtual_motor = Virtual_Chassis_GetMotorFeedback(&virtual_chassis, i);
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if (virtual_motor != NULL && virtual_motor->online) {
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// 将虚拟底盘的电机数据转换为底盘反馈格式
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chassis.feedback.joint[i].rotor_abs_angle = virtual_motor->current_angle;
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chassis.feedback.joint[i].rotor_speed = virtual_motor->current_velocity;
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chassis.feedback.joint[i].torque_current = virtual_motor->current_torque;
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chassis.feedback.joint[i].temp = 25.0f; // 默认温度
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}
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}
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if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
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// 成功接收到命令，更新底盘命令
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}
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Chassis_UpdateFeedback(&chassis);
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Chassis_Control(&chassis, &chassis_cmd);
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// 将控制输出发送给虚拟底盘
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if (Virtual_Chassis_IsOnline(&virtual_chassis)) {
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float torques[4];
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for (int i = 0; i < 4; i++) {
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torques[i] = chassis.output.joint[i].torque; // 从底盘控制输出获取力矩
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}
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// Virtual_Chassis_SendTorqueCommand(&virtual_chassis, torques);
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}
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |