CMakeLists.txt

@@ -62,7 +62,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/pid.c
     User/component/user_math.c
     User/component/crc16.c
-    User/component/PowerControl.c
+
+/home/shentou/workspace/SuperCap/god-yuan-hero/User/component/PowerControl.c
     # User/device sources
     User/device/dr16.c
     User/device/AT9S_Pro.c
@@ -71,7 +72,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor_dm.c
     User/device/motor_rm.c
     User/device/vofa.c
-    User/device/supercap.c
+
+/home/shentou/workspace/SuperCap/god-yuan-hero/User/device/supercap.c
     # User/module sources
     User/module/chassis.c
     User/module/config.c
@@ -88,7 +90,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/init.c
     User/task/rc.c
     User/task/user_task.c
-    User/task/supercap.c
+/home/shentou/workspace/SuperCap/god-yuan-hero/User/task/supercap.c
 )
 
 # Add include paths

User/component/PowerControl.h

@@ -27,3 +27,4 @@ void power_out_calu(power_model_t* param,float scale,float* in_array,float* rpm_
 #endif
 
 #endif
+

User/module/config.c

@@ -93,46 +93,7 @@ Config_RobotParam_t robot_config = {
       .max_current = 16000.0f 
     },
   },
-    .track_param = {
-        .motor = {
-            {
-                .can = BSP_CAN_1,
-                .id = 0x205,
-                .module = MOTOR_M3508,
-                .reverse = false,
-                .gear = true,
-            },
-            {
-                .can = BSP_CAN_1,
-                .id = 0x206,
-                .module = MOTOR_M3508,
-                .reverse = true,
-                .gear = true,
-            },
-        },
-        .pid = {
-            {
-                .k = 0.001f,
-                .p = 1.0f,
-                .i = 0.0f,
-                .d = 0.0f,
-                .i_limit = 1.0f,
-                .out_limit = 1.0f,
-                .d_cutoff_freq = -1.0f,
-                .range = -1.0f,
-            },
-            {
-                .k = 0.001f,
-                .p = 1.0f,
-                .i = 0.0f,
-                .d = 0.0f,
-                .i_limit = 1.0f,
-                .out_limit = 1.0f,
-                .d_cutoff_freq = -1.0f,
-                .range = -1.0f,
-            },
-        },
-    },
+    
     .gimbal_param = {
         .pid = {
             .yaw_omega = {
@@ -189,7 +150,7 @@ Config_RobotParam_t robot_config = {
             .gyro = 1000.0f,
         },
         .pit_motor ={
-            .can = BSP_CAN_2,
+            .can = BSP_CAN_1,
             .can_id = 0x2,
             .master_id = 0x12,
             .module = MOTOR_DM_J4310,

User/module/config.h

@@ -15,14 +15,12 @@ extern "C" {
 #include "module/shoot.h"
 #include "module/gimbal.h"
 #include "module/chassis.h"
-#include "module/track.h"
 #include "module/cmd.h"
 #include "component/PowerControl.h"
 typedef struct {
     Shoot_Params_t shoot_param;
 	Gimbal_Params_t gimbal_param;
     Chassis_Params_t chassis_param;
-    Track_Params_t track_param;
     CMD_Params_t cmd_param;
 } Config_RobotParam_t;
 

User/module/shoot_Master&Slave.c

@@ -32,7 +32,7 @@ void Task(void *argument) {
 
 /* Includes ----------------------------------------------------------------- */
 #include <string.h>
-#include "shoot_Master&Slave.h"
+#include "shoot.h"
 #include "bsp/mm.h"
 #include "bsp/time.h"
 #include "component/filter.h"

User/module/track.c

@@ -1,57 +0,0 @@
-/*
- * 英雄履带控制
- */
- 
-
-/* Includes ----------------------------------------------------------------- */
-#include <math.h>
-#include <string.h>
-#include "track.h"
-#include "bsp/mm.h"
-#include "bsp/time.h"
-#include "component/filter.h"
-#include "component/user_math.h"
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-
-/* Private function  -------------------------------------------------------- */
-
-/* Exported functions ------------------------------------------------------- */
-uint8_t TRACK_Init(Track_t *t, Track_Params_t *param, float target_freq)
-{
-    if (t == NULL || param == NULL) {
-        return TRACK_ERR_NULL; // 参数错误
-    }
-    t->param = param;
-
-    for (int i=0; i<TRACK_MOTOR_NUM; i++) {
-    PID_Init(&t->pid[i], KPID_MODE_CALC_D, target_freq, &param->pid[i]);
-    }
-    return TRACK_OK;
-}
-
-uint8_t TRACK_Control(Track_t *t, Track_CMD_t *cmd)
-{
-    if (t == NULL || cmd == NULL) {
-        return TRACK_ERR_NULL; // 参数错误
-    }
-    t->timer.now = BSP_TIME_Get_us()/1000000.0f;
-    t->timer.dt = t->timer.now - t->timer.lask_wakeup/1000000.0f;
-    t->timer.lask_wakeup = BSP_TIME_Get_us();
-    
-    for (int i=0; i<TRACK_MOTOR_NUM; i++) {
-      t->output.iout[i] = PID_Calc(&t->pid[i], cmd->vel, t->motor.feedback.rotor_speed, 0.0f, t->timer.dt);
-      MOTOR_RM_SetOutput(&t->param->motor[i], t->output.iout[i]);
-    }
-    MOTOR_RM_Ctrl(&t->param->motor[0]);
-    return TRACK_OK;
-}
-
-
-
-
-
-

User/module/track.h

@@ -1,64 +0,0 @@
-/*
- * far♂蛇模块
- */
-
-#pragma once
-
-#include <stdbool.h>
-#include <stddef.h>
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "main.h"
-#include "component/pid.h"
-#include "device/motor_rm.h"
-/* Exported constants ------------------------------------------------------- */
-#define TRACK_MOTOR_NUM 2
-#define TRACK_CMD_RPM_MAX 8000.0f 
-#define TRACK_OK (0)        /* 运行正常 */
-#define TRACK_ERR_NULL (-1) /* 运行时发现NULL指针 */    
-#define TRACK_ERR_ERR (-2)  /* 运行时发现了其他错误 */
-#define TRACK_ERR_MODE (-3) /* 运行时配置了错误的Mode */
-#define TRACK_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
-#define TRACK_ERR_MALLOC (-5) /* 内存分配失败 */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-typedef struct {
-  float now;            /* 当前时间，单位秒 */
-  uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */
-  float dt;             /* 两次唤醒间隔时间，单位秒 */
-} Track_Timer_t;
-
-typedef struct {
-  MOTOR_RM_Param_t motor[TRACK_MOTOR_NUM];
-  KPID_Params_t pid[TRACK_MOTOR_NUM];
-} Track_Params_t;
-
-typedef struct {
-  bool enable;
-  float vel;
-} Track_CMD_t;
-
-typedef struct {
-  Track_Params_t *param;
-  Track_Timer_t timer;
-
-  KPID_t pid[TRACK_MOTOR_NUM];
-
-  MOTOR_RM_t motor; 
-
-  struct {
-    float iout[TRACK_MOTOR_NUM];
-  }output;
-} Track_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-
-
-#ifdef __cplusplus
-}
-#endif
-
-
-

compile_commands.json

@@ -1 +0,0 @@
-/home/shentou/workspace/SuperCap/god-yuan-hero/./build/Debug/compile_commands.json