ryan/rm_chassis
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

增加限位

Browse Source
This commit is contained in:
zxy 2025-10-19 16:43:01 +08:00
parent 7bc41dbeaf
commit fc2ac5c99d
18 changed files with 4328 additions and 4247 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -6,3 +6,5 @@
[info] Log at : 2025/10/17|20:08:11|GMT+0800
[info] Log at : 2025/10/19|16:41:15|GMT+0800

2
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,4 +1,4 @@
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
Build target 'zzzzh'
"zzzzh\zzzzh.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:05

2
MDK-ARM/.vscode/uv4.log.lock vendored
View File

@ -1 +1 @@
2025/10/17 20:08:32
2025/10/19 16:41:29

166
MDK-ARM/zzzzh.uvguix.Ryan
View File

File diff suppressed because one or more lines are too long

29
MDK-ARM/zzzzh.uvoptx
View File

@ -143,7 +143,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -161,20 +161,15 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>dr16,0x0A</ItemText>
<ItemText>bmi088,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>bmi088,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_eulr,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp_pid_param</ItemText>
</Ww>
@ -183,27 +178,17 @@
<Ww>
<count>0</count>
<WinNumber>2</WinNumber>
<ItemText>dr16,0x0A</ItemText>
<ItemText>chassis_fb,0x0A</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>chassis_fb</ItemText>
<ItemText>chassis_cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>cmd_to_chassis</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>chassis</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>2</WinNumber>
<ItemText>\\zzzzh\../User/task/test.c\chassis.limit</ItemText>
<ItemText>dr16,0x0A</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
@ -212,7 +197,7 @@
<DebugFlag>
<trace>0</trace>
<periodic>1</periodic>
<aLwin>1</aLwin>
<aLwin>0</aLwin>
<aCover>0</aCover>
<aSer1>0</aSer1>
<aSer2>0</aSer2>

2
MDK-ARM/zzzzh.uvprojx
View File

@ -81,7 +81,7 @@
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>1</RunUserProg2>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>

BIN
MDK-ARM/zzzzh/chassis.o
View File

Binary file not shown.

BIN
MDK-ARM/zzzzh/config.o
View File

Binary file not shown.

BIN
MDK-ARM/zzzzh/test.o
View File

Binary file not shown.

BIN
MDK-ARM/zzzzh/yaokongqi.o
View File

Binary file not shown.

BIN
MDK-ARM/zzzzh/zzzzh.axf
View File

Binary file not shown.

4
MDK-ARM/zzzzh/zzzzh.build_log.htm
View File

@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.32.0.0
<h2>Project:</h2>
c:\Users\ÕÅÐÞÒÕ\Desktop\chassis\MDK-ARM\zzzzh.uvprojx
Project File Date: 10/14/2025
Project File Date: 10/19/2025
<h2>Output:</h2>
*** Using Compiler 'V6.7', folder: 'D:\keil\ARM\ARMCLANG\Bin'
@ -50,7 +50,7 @@ Package Vendor: Keil
<h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE:5.0.1
Build Time Elapsed: 00:00:02
Build Time Elapsed: 00:00:05
</pre>
</body>
</html>

4250
MDK-ARM/zzzzh/zzzzh.hex
View File

File diff suppressed because it is too large Load Diff

1779
MDK-ARM/zzzzh/zzzzh.htm
View File

File diff suppressed because it is too large Load Diff

2211
MDK-ARM/zzzzh/zzzzh.map
View File

File diff suppressed because it is too large Load Diff

16
MDK-ARM/zzzzh/zzzzh_zzzzh.dep
View File

@ -133,7 +133,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68C65D
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (..\User\task\user_task.h)(0x68ECF321)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\User\bsp\bsp.h)(0x68EE5C62)
@ -1966,7 +1966,7 @@ I (D:\keil\ARM\ARMCLANG\include\string.h)(0x588CAFD2)
F (..\User\module\config.c)(0x68DDDFDF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/config.o -MD)
I (..\User\module\config.h)(0x68DCDCE8)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
I (..\User\bsp\can.h)(0x68EE5C62)
@ -2025,7 +2025,7 @@ I (..\User\component\ahrs.h)(0x68EE5C62)
I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
F (..\User\module\chassis.c)(0x68F22AA4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
F (..\User\module\chassis.c)(0x68F4A0FB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-3 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User -I./RTE/_zzzzh -ID:/keil/ARM/PACK/ARM/CMSIS/5.0.1/CMSIS/Include -ID:/keil/ARM/PACK/Keil/STM32F4xx_DFP/2.14.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="524" -D_RTE_ -DSTM32F407xx -DUSE_HAL_DRIVER -DSTM32F407xx -o zzzzh/chassis.o -MD)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68C65D59)
I (D:\keil\ARM\ARMCLANG\include\stdint.h)(0x588CAFD2)
I (D:\keil\ARM\ARMCLANG\include\stddef.h)(0x588CAFD2)
@ -2083,7 +2083,7 @@ I (D:\keil\ARM\ARMCLANG\include\math.h)(0x58A47FFE)
I (..\User\device\motor_rm.h)(0x68EE5C18)
I (..\User\device\motor.h)(0x68EE5C18)
I (..\User\device\device.h)(0x68EE5C63)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\component\filter.h)(0x68EE5C62)
I (..\User\component\mixer.h)(0x68EE5C62)
I (..\User\component\pid.h)(0x68EE5C62)
@ -2102,7 +2102,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2166,7 +2166,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2229,7 +2229,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)
@ -2293,7 +2293,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68C65D59
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68C65D59)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68C65D59)
I (..\User\module\config.h)(0x68DCDCE8)
I (..\User\module\chassis.h)(0x68ECF095)
I (..\User\module\chassis.h)(0x68F49369)
I (..\User\bsp\can.h)(0x68EE5C62)
I (..\Core\Inc\can.h)(0x68EE5A24)
I (..\Core\Inc\main.h)(0x68EE5A28)

87
User/module/chassis.c
View File

@ -19,8 +19,10 @@
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode, uint32_t now) {
if (!c) return CHASSIS_ERR_NULL;
if (mode == c->mode) return CHASSIS_OK;
if (!c)
return CHASSIS_ERR_NULL;
if (mode == c->mode)
return CHASSIS_OK;
if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
srand(now);
@ -47,18 +49,21 @@ static float Chassis_CalcWz(const float min, const float max, uint32_t now) {
int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
AHRS_Eulr_t *mech_zero, float target_freq) {
if (!c) return CHASSIS_ERR_NULL;
c->param = param;
c->mode = CHASSIS_MODE_RELAX;
c->mech_zero = *mech_zero;
c->feedback.imu.eulr = *mech_zero;
c->mech_zero = *mech_zero;
c->feedback.imu.eulr = *mech_zero;
if (param->reverse.yaw) {
CircleReverse(&(c->mech_zero.yaw));
c->feedback.imu.eulr.yaw = -c->feedback.imu.eulr.yaw + M_2PI;
}
c->limit.vx.max = param->limit.max_vx;
c->limit.vx.min = -param->limit.max_vx;
c->limit.vy.max = param->limit.max_vy;
c->limit.vy.min = -param->limit.max_vy;
c->limit.wz.max = param->limit.max_wz;
c->limit.wz.min = -param->limit.max_wz;
Mixer_Mode_t mixer_mode;
switch (param->type) {
@ -95,24 +100,23 @@ if (param->reverse.yaw) {
PID_Init(&c->pid.motor[i], KPID_MODE_NO_D, target_freq, &param->pid.motor_pid_param);
LowPassFilter2p_Init(&c->filter.in[i], target_freq, param->low_pass_cutoff_freq.in);
LowPassFilter2p_Init(&c->filter.out[i], target_freq, param->low_pass_cutoff_freq.out);
c->feedback.motor[i].rotor_speed = 0;
c->feedback.motor[i].torque_current = 0;
c->feedback.motor[i].rotor_abs_angle = 0;
c->feedback.motor[i].temp = 0;
}
PID_Init(&c->pid.follow, KPID_MODE_NO_D, target_freq, &param->pid.follow_pid_param);
Mixer_Init(&c->mixer, mixer_mode);
c->move_vec.vx = c->move_vec.vy = c->move_vec.wz = 0.0f;
for (uint8_t i = 0; i < c->num_wheel; i++) {
c->feedback.motor[i].rotor_speed = 0;
c->feedback.motor[i].torque_current = 0;
c->feedback.motor[i].rotor_abs_angle = 0;
c->feedback.motor[i].temp = 0;
}
for (uint8_t i = 0; i < c->num_wheel; i++) {
c->out.motor[i] = 0.0f;
}
for (int i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Register(&(c->param->motor_param[i]));
c->motors[i] = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
}
return CHASSIS_OK;
}
@ -121,22 +125,26 @@ if (param->reverse.yaw) {
int8_t Chassis_UpdateFeedback(Chassis_t *c, const Chassis_Feedback_t *feedback) {
if (!c || !feedback) return CHASSIS_ERR_NULL;
if (c->param->reverse.yaw) {
c->feedback.imu.eulr.yaw = -feedback->imu.eulr.yaw;
} else {
c->feedback.imu.eulr.yaw = feedback->imu.eulr.yaw;
}
float yaw = c->param->reverse.yaw ? -feedback->imu.eulr.yaw : feedback->imu.eulr.yaw;
while (yaw > M_PI) yaw -= M_2PI;
while (yaw < -M_PI) yaw += M_2PI;
c->feedback.imu.eulr.yaw = yaw;
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_Update(&(c->param->motor_param[i]));
MOTOR_RM_t *rm_motor = c->motors[i];
if (rm_motor) {
// MOTOR_RM_t *rm_motor = c->motors[i];
// if (rm_motor) {
// c->feedback.motor[i] = rm_motor->feedback;
// }
// else
// {
// return CHASSIS_ERR_NULL;
// }
MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(c->param->motor_param[i]));
if (rm_motor != NULL) {
c->feedback.motor[i] = rm_motor->feedback;
}
else
{
return CHASSIS_ERR_NULL;
}
}
return CHASSIS_OK;
}
@ -148,14 +156,16 @@ int8_t Chassis_Control(Chassis_t *c, const ChassisCmd_t *c_cmd, uint32_t now) {
c->dt = (float)(now - c->last_wakeup) / 1000.0f;
c->last_wakeup = now;
if (!isfinite(c->dt) || c->dt <= 0.0f) {
if (!isfinite(c->dt) || c->dt <= 0.0f) {
c->dt = 0.001f;
}
if (c->dt < 0.0005f) c->dt = 0.0005f;
if (c->dt > 0.050f) c->dt = 0.050f;
}
if (c->dt < 0.0005f) c->dt = 0.0005f;
if (c->dt > 0.050f) c->dt = 0.050f;
Chassis_SetMode(c, c_cmd->mode, now);
Clip(&c->move_vec.vx, c->limit.vx.min, c->limit.vx.max);
Clip(&c->move_vec.vy, c->limit.vy.min, c->limit.vy.max);
Clip(&c->move_vec.wz, c->limit.wz.min, c->limit.wz.max);
switch (c->mode) {
case CHASSIS_MODE_BREAK:
c->move_vec.vx = c->move_vec.vy = 0.0f;
@ -180,6 +190,7 @@ if (c->dt > 0.050f) c->dt = 0.050f;
c->move_vec.wz = 0.0f;
break;
case CHASSIS_MODE_OPEN:
c->move_vec.wz = c_cmd->ctrl_vec.wz;
case CHASSIS_MODE_FOLLOW_GIMBAL:
c->move_vec.wz = PID_Calc(&c->pid.follow, c->mech_zero.yaw, c->feedback.imu.eulr.yaw, 0.0f, c->dt);
break;
@ -196,9 +207,10 @@ if (c->dt > 0.050f) c->dt = 0.050f;
for (uint8_t i = 0; i < c->num_wheel; i++) {
float rf = c->setpoint.motor_rpm[i];
float fb = LowPassFilter2p_Apply(&c->filter.in[i], (float)c->feedback.motor[i].rotor_speed);
float out_current = 0.0f;
//float out_current = 0.0f;
float out_current = PID_Calc(&c->pid.motor[i], rf, fb, 0.0f, c->dt);
switch (c->mode) {
case CHASSIS_MODE_BREAK:
case CHASSIS_MODE_FOLLOW_GIMBAL:
@ -208,7 +220,7 @@ if (c->dt > 0.050f) c->dt = 0.050f;
out_current = PID_Calc(&c->pid.motor[i], c->setpoint.motor_rpm[i], fb, 0.0f, c->dt);
break;
case CHASSIS_MODE_OPEN:
out_current = c->setpoint.motor_rpm[i] / 9000.0f;
out_current = c->setpoint.motor_rpm[i] / 7000.0f;
break;
case CHASSIS_MODE_RELAX:
out_current = 0.0f;
@ -216,9 +228,8 @@ if (c->dt > 0.050f) c->dt = 0.050f;
}
out_current = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
c->out.motor[i] = out_current;
c->out.motor[i] = LowPassFilter2p_Apply(&c->filter.out[i], out_current);
Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
}
@ -226,7 +237,8 @@ if (c->dt > 0.050f) c->dt = 0.050f;
}
void Chassis_Output(Chassis_t *c) {
if (!c) return;
if (!c)
return;
//ÿ¸öµç»úÄ¿±êÊä³ö
for (uint8_t i = 0; i < c->num_wheel; i++) {
@ -240,7 +252,6 @@ void Chassis_Output(Chassis_t *c) {
MOTOR_RM_t *rm = c->motors[i];
if (rm) {
MOTOR_RM_Ctrl(&rm->param);
break;
}
}
}

17
User/module/chassis.h
View File

@ -23,6 +23,7 @@ extern "C" {
#define CHASSIS_ERR_MODE (-3) /* 运行时出配置了错误的ChassisMode_t */
#define CHASSIS_ERR_TYPE (-4) /* 运行时出配置了错误的Chassis_Type_t */
#define MAX_MOTOR_CURRENT 20.0f
/* 底盘控制模式 */
typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式,电机不输出。一般情况底盘初始化之后的模式 */
@ -52,7 +53,7 @@ typedef struct {
typedef struct {
float max;
float min;
} Chassis_Limit_t;//移植云台的代码
} Chassis_Limit_t;
/* 底盘类型（底盘的物理设计） */
typedef enum {
@ -85,7 +86,10 @@ typedef struct {
struct {
bool yaw;
} reverse;
struct {
float max_vx, max_vy, max_wz;
float max_current;
} limit;
} Chassis_Params_t;
typedef struct {
@ -136,11 +140,9 @@ typedef struct {
KPID_t follow; /* 跟随云台用的PID */
} pid;
// struct {
// Chassis_Limit_t vx; // ??????
// Chassis_Limit_t vy; // ??????
// Chassis_Limit_t wz; // ?z???????
//} limit;
struct {
Chassis_Limit_t vx, vy, wz;
} limit;
/* 滤波器 */
struct {
@ -226,6 +228,7 @@ void Chassis_ResetOutput(Chassis_t *c);
*/
//void Chassis_DumpUI(const Chassis_t *c, Referee_ChassisUI_t *ui);
#ifdef __cplusplus
}
#endif