76 lines
1.5 KiB
C
76 lines
1.5 KiB
C
#include "config.h"
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#include "string.h"
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#define DEBUG
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#define CONFIG_BASE_ADDRESS (ADDR_FLASH_SECTOR_11)
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#ifdef DEBUG
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Config_Param_t config_chassis ={
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#else
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static const Config_Param_t param_chassis ={
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#endif
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.chassis={
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.motor_3508_param[0]={BSP_CAN_1,0x201,MOTOR_M3508,false,false},
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.motor_3508_param[1]={BSP_CAN_1,0x202,MOTOR_M3508,false,false},
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.motor_3508_param[2]={BSP_CAN_1,0x203,MOTOR_M3508,false,false},
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.motor_3508_param[3]={BSP_CAN_1,0x204,MOTOR_M3508,false,false},
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.motor_6020_param[0]={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
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.motor_6020_param[1]={BSP_CAN_1,0x206,MOTOR_GM6020,false,false},
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.motor_6020_param[2]={BSP_CAN_1,0x207,MOTOR_GM6020,false,false},
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.motor_6020_param[3]={BSP_CAN_1,0x208,MOTOR_GM6020,false,false},
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.C6020Omega_param={
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.k=1.0f,
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.p=0.5f,
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.i=0.1f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit=1.0f,
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.d_cutoff_freq= -1.0f,
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.range=-1.0f
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},
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.C6020Angle_param={
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.k=0.2f,
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.p=0.21f,
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.i=0.1f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit=30.0f,
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.d_cutoff_freq= -1.0f,
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.range=360
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},
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.M3508v_param={
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.k=0.2f,
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.p=0.25f,
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.i=0.1f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit=1.0f,
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.d_cutoff_freq= -1.0f,
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.range=-1.0f
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},
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}
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};
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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_Param_t* Config_GetRobotParam(void) {
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return &config_chassis;
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}
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