191 lines
6.8 KiB
C
191 lines
6.8 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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/* 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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.imu_param = {
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.can = BSP_CAN_2,
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.can_id = 0x6FF,
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.device_id = 0x42,
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.master_id = 0x43,
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},
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.joint_motors[0] = { // 左膝关节
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.can = BSP_CAN_1,
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.motor_id = 124,
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.host_id = 130,
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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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.joint_motors[1] = { // 左髋关节
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.can = BSP_CAN_1,
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.motor_id = 125,
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.host_id = 130,
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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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.joint_motors[2] = { // 右髋关节
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.can = BSP_CAN_1,
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.motor_id = 126,
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.host_id = 130,
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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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.joint_motors[3] = { // 右膝关节
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.can = BSP_CAN_1,
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.motor_id = 127,
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.host_id = 130,
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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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.wheel_motors[0] = { // 左轮电机
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.can = BSP_CAN_1,
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.id = 1, // 电机ID为1，对应命令ID=0x141，反馈ID=0x181
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.module = MOTOR_LK_MF9025,
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.reverse = false,
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},
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.wheel_motors[1] = { // 右轮电机
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.can = BSP_CAN_1,
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.id = 2, // 电机ID为2，对应命令ID=0x142，反馈ID=0x182
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.module = MOTOR_LK_MF9025,
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.reverse = true,
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},
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.chassis_param = {
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.leglength={
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.k = 0.0f,
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.p = 10.0f,
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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 = -1.0f,
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},
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.yaw={
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.k=0.0f,
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.p=0.1f,
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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=0.2f,
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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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.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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.joint_motors = {
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{ // 左髋关节
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.can = BSP_CAN_1,
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.motor_id = 124,
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.host_id = 130,
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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_1,
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.motor_id = 125,
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.host_id = 130,
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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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{ // 右膝关节
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.can = BSP_CAN_1,
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.motor_id = 126,
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.host_id = 130,
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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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{ // 右髋关节
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.can = BSP_CAN_1,
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.motor_id = 127,
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.host_id = 130,
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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_motors = {
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{ // 左轮电机
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.can = BSP_CAN_1,
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.id = 0x141,
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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_1,
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.id = 0x142,
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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_zero_yaw = 0.0f,
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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 = { -61.932040681074966f, 70.963671642086396f, -37.730841182566571f, -0.296475458388679f }, // theta
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.k12_coeff = { -0.586710094600108f, 0.886736272521581f, -3.626144273475104f, 0.057861910518974f }, // d_theta
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.k13_coeff = { -17.297031110481019f, 16.286794934166178f, -5.176451154477850f, -0.867260018374823f }, // x
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.k14_coeff = { -14.893387150006664f, 14.357020815277332f, -5.244645181873441f, -0.869862096507486f}, // d_x
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.k15_coeff = { -75.327876471378886f, 79.786699741548944f, -31.183500053811208f, 5.450635661115236f}, // phi
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.k16_coeff = { -3.572234723237025f, 4.164905011076312f, -1.874828497771750f, 0.477913222933688f}, // d_phi
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.k21_coeff = { 9.327090608559319f, 1.362675928111105f, -8.092777598567881f, 4.351387652359104f}, // theta
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.k22_coeff = { 3.872517778351810f, -3.344077414726880f, 0.589693555828904f, 0.310036629174646f}, // d_theta
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.k23_coeff = { -71.615766251649134f, 74.748309711530837f, -28.370490124006626f, 4.483586941100197f }, // x
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.k24_coeff = { -68.751866288568962f, 71.204785013044102f, -26.812636604518396f, 4.238479323700952f }, // d_x
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.k25_coeff = { 205.6887659080132f, -195.1219729060621f, 62.890188701113303f, 7.452313695653162f }, // phi
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.k26_coeff = { 16.162999842656344f, -15.926932704437410f, 5.474613395300429f, -0.002856083635449f }, // d_phi
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},
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.lqr_param.max_joint_torque = 20.0f, // 关节电机最大力矩 20Nm
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.lqr_param.max_wheel_torque = 2.5f, // 轮毂电机最大力矩 2.5Nm
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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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} |