/* * 配置相关 */ /* Includes ----------------------------------------------------------------- */ #include "module/config.h" #include "bsp/can.h" #include "module/gimbal.h" #include "module/shoot_control.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */ // 机器人参数配置 Config_RobotParam_t robot_config = { //云台参数 .gimbal_param = { /*欧拉角限位和电机角度限位*/ .Set_Limit_t= { .pit_max=0.69, .pit_min=-0.47, .yaw_max= 1.0,//yaw的限位作用于小yaw .yaw_min=-1.0, .pit_ecd_max=0, .pit_ecd_min=0, .yaw_ecd_max=0, .yaw_ecd_min=0, }, // .mech_zero = { // .yaw = 0.0f, // .pit = -0.69f, // }, /*是否启动限位,1启动，-1不启动 小yaw默认限位 一般pit统一限位*/ .travel = { .yaw = -1.0f, .pit = 1.0f, .ecd_yaw=-1.0f, .ecd_pit=1.0f, }, .motor={ /*按自己需求选择电机*/ .pit=DM, .yaw=RM, .yaw_rm_motor={BSP_CAN_1, 0x205, MOTOR_GM6020, false, false}, /*达妙电机参数自己配*/ //并且是在motor_dm.h里的，目前是正确的 .pit_dm_motor={ //需要再写 BSP_CAN_1, 0x1, 0x11, MOTOR_DM_J4310, false}, //.yaw_dm_motor={}, }, .low_pass_cutoff_freq = { .out = -1.0f, .gyro = 1000.0f, }, .pid = { /*欧拉角控制参数*/ .yaw_omega = { .k = 0.45f, .p = 1.0f, .i = 6.0f, .d = 0.0008f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .yaw_angle = { .k = 10.0f, .p = 2.0f , .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .pit_omega = { .k = 0.25f, .p = 1.0f, .i = 0.0f, .d = 0.001901f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .pit_angle = { .k = 12.0f, .p = 2.1, .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, /*电机控制参数*/ .yaw_velocity = { .k = 1.0f, .p = 1.0f, .i = 0.0f, .d = 0.000f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .yaw_ecd_angle = { .k = 1.0f, .p = 1.0f , .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .pit_velocity = { .k = 0.0f, .p = 0.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .pit_ecd_angle = { .k = 1.0f, .p = 0.0f, .i = 0.0f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, } }, //发射参数 .shoot_param = { .proj=SHOOT_PROJECTILE_17MM, .fric_num=2, .extra_deceleration_ratio=1.0f, .num_trig_tooth=4, .shot_freq=20.0f, .shot_burst_num=10, .num_multilevel=1, .jam_enable=false, .jam_threshold=120.0f, .jam_suspected_time=0.5f, .trig_motor_param = { .can = BSP_CAN_2, .id = 0x207, .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_2006 = { .k=2.5f, .p=1.0f, .i=0.1f, .d=0.04f, .i_limit=0.4f, .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=M_2PI, }, .trig_omg_2006 = { .k=1.0f, .p=1.5f, .i=0.3f, .d=0.5f, .i_limit=0.2f, .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, .trig_3508 = { .k=0.5f, .p=1.8f, .i=0.3f, .d=0.1f, .i_limit=0.15f, .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=M_2PI, }, .trig_omg_3508 = { .k=1.0f, .p=1.0f, .i=0.0f, .d=0.0f, .i_limit=0.0f, .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, .filter.fric = { .in = 30.0f, .out = 30.0f, }, .filter.trig = { .in = 30.0f, .out = 30.0f, }, } }; /* 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; } /** * @brief 初始化发射部分配置参数 * @return 初始化结果 */ int8_t Config_ShootInit(void) { int fric_num = robot_config.shoot_param.fric_num; int num_multilevel = robot_config.shoot_param.num_multilevel; robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); if (robot_config.shoot_param.fric_motor_param == NULL) { BSP_Free(robot_config.shoot_param.fric_motor_param); return -1; // 内存分配失败 } robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float)); if (robot_config.shoot_param.ratio_multilevel == NULL) { BSP_Free(robot_config.shoot_param.ratio_multilevel); return -1; // 内存分配失败 } /* 初始化摩擦轮电机参数 */ for (uint8_t i = 0; i < fric_num; i++) { robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){ .can = BSP_CAN_2, .id = 0x201 + i, .module = MOTOR_M3508, /*设置电机反装；example*********************** .reverse = (i == 0||1||3||5) ? true : false,*/ .reverse = (i == 1) ? true : false, .gear = false, }; } /*规定电机属于哪级发射；example************************ robot_config.shoot_param.fric_motor_param[0].level=1;*/ robot_config.shoot_param.fric_motor_param[0].level=1; robot_config.shoot_param.fric_motor_param[1].level=1; /*规定各级摩擦轮转速比；example********************* robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/ robot_config.shoot_param.ratio_multilevel[0]=1.0f; return SHOOT_OK; }