201 lines
7.3 KiB
C
201 lines
7.3 KiB
C
/*
|
||
* 配置相关
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "module/config.h"
|
||
#include "bsp/can.h"
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
|
||
/* Exported variables ------------------------------------------------------- */
|
||
|
||
// 机器人参数配置
|
||
Config_RobotParam_t robot_config = {
|
||
|
||
.imu_param = {
|
||
.can = BSP_CAN_2,
|
||
.can_id = 0x6FF,
|
||
.device_id = 0x42,
|
||
.master_id = 0x43,
|
||
},
|
||
.joint_motors[0] = { // 左膝关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 124,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
.joint_motors[1] = { // 左髋关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 125,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
.joint_motors[2] = { // 右髋关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 126,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
.joint_motors[3] = { // 右膝关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 127,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
.wheel_motors[0] = { // 左轮电机
|
||
.can = BSP_CAN_1,
|
||
.id = 1, // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = false,
|
||
},
|
||
.wheel_motors[1] = { // 右轮电机
|
||
.can = BSP_CAN_1,
|
||
.id = 2, // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = true,
|
||
},
|
||
|
||
.chassis_param = {
|
||
.leglength={
|
||
.k = 5.0f,
|
||
.p = 15.0f,
|
||
.i = 0.0f,
|
||
.d = 0.0f,
|
||
.i_limit = 0.0f,
|
||
.out_limit = 10.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = -1.0f,
|
||
},
|
||
.yaw={
|
||
.k=0.01f,
|
||
.p=0.1f,
|
||
.i=0.0f,
|
||
.d=0.0f,
|
||
.i_limit=0.0f,
|
||
.out_limit=0.2f,
|
||
.d_cutoff_freq=30.0f,
|
||
.range=M_2PI, /* 2*PI，用于处理角度循环误差 */
|
||
},
|
||
.roll={
|
||
.k=1.0f,
|
||
.p=5.0f, /* 横滚角比例系数 */
|
||
.i=0.0f, /* 横滚角积分系数 */
|
||
.d=0.2f, /* 横滚角微分系数 */
|
||
.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 */
|
||
},
|
||
|
||
|
||
.low_pass_cutoff_freq = {
|
||
.in = 30.0f,
|
||
.out = 30.0f,
|
||
},
|
||
.joint_motors = {
|
||
{ // 左髋关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 124,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 左膝关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 125,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = false,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 右膝关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 126,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = true,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
{ // 右髋关节
|
||
.can = BSP_CAN_1,
|
||
.motor_id = 127,
|
||
.host_id = 130,
|
||
.module = MOTOR_LZ_RSO3,
|
||
.reverse = true,
|
||
.mode = MOTOR_LZ_MODE_MOTION,
|
||
},
|
||
},
|
||
.wheel_motors = {
|
||
{ // 左轮电机
|
||
.can = BSP_CAN_1,
|
||
.id = 0x141,
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = false,
|
||
},
|
||
{ // 右轮电机
|
||
.can = BSP_CAN_1,
|
||
.id = 0x142,
|
||
.module = MOTOR_LK_MF9025,
|
||
.reverse = true,
|
||
},
|
||
},
|
||
.mech_zero_yaw = 0.0f,
|
||
|
||
.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 = { -61.932040681074966f, 70.963671642086396f, -37.730841182566571f, -0.296475458388679f }, // theta
|
||
.k12_coeff = { -0.586710094600108f, 0.886736272521581f, -3.626144273475104f, 0.057861910518974f }, // d_theta
|
||
.k13_coeff = { -17.297031110481019f, 16.286794934166178f, -5.176451154477850f, -0.867260018374823f }, // x
|
||
.k14_coeff = { -14.893387150006664f, 14.357020815277332f, -5.244645181873441f, -0.869862096507486f}, // d_x
|
||
.k15_coeff = { -75.327876471378886f, 79.786699741548944f, -31.183500053811208f, 5.450635661115236f}, // phi
|
||
.k16_coeff = { -3.572234723237025f, 4.164905011076312f, -1.874828497771750f, 0.477913222933688f}, // d_phi
|
||
.k21_coeff = { 9.327090608559319f, 1.362675928111105f, -8.092777598567881f, 4.351387652359104f}, // theta
|
||
.k22_coeff = { 3.872517778351810f, -3.344077414726880f, 0.589693555828904f, 0.310036629174646f}, // d_theta
|
||
.k23_coeff = { -71.615766251649134f, 74.748309711530837f, -28.370490124006626f, 4.483586941100197f }, // x
|
||
.k24_coeff = { -68.751866288568962f, 71.204785013044102f, -26.812636604518396f, 4.238479323700952f }, // d_x
|
||
.k25_coeff = { 205.6887659080132f, -195.1219729060621f, 62.890188701113303f, 7.452313695653162f }, // phi
|
||
.k26_coeff = { 16.162999842656344f, -15.926932704437410f, 5.474613395300429f, -0.002856083635449f }, // d_phi
|
||
},
|
||
.lqr_param.max_joint_torque = 20.0f, // 关节电机最大力矩 20Nm
|
||
.lqr_param.max_wheel_torque = 2.5f, // 轮毂电机最大力矩 2.5Nm
|
||
}
|
||
};
|
||
|
||
/* 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;
|
||
} |