/* * 配置相关 */ /* Includes ----------------------------------------------------------------- */ #include "module/config.h" #include "bsp/can.h" #include "device/motor_dm.h" #include /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */ // 机器人参数配置 Config_RobotParam_t robot_config = { .chassis_param = { /* DJI3508µç»ú*/ .motor_param = { { .can = BSP_CAN_1, .id = 0x201, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x202, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508, .reverse = false, .gear = true }, }, .type = CHASSIS_TYPE_MECANUM, /* PID */ .pid = { /* µ×Å̵ç»ú PID */ .motor_pid_param = { .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, }, /* ¸úËæ */ .follow_pid_param = { .k = 0.5f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, }, .low_pass_cutoff_freq = { .in = 50.0f, .out = 50.0f, }, .reverse = { .yaw = true, }, .limit = { .max_vx = 3.0f, .max_vy = 3.0f, .max_wz = 2.0f, .max_current = 16000.0f }, }, .gimbal_param = { .pid = { .yaw_omega = { .k = 1.0f, .p = 1.0f, .i = 0.3f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .yaw_angle = { .k = 8.0f, .p = 4.0f, .i = 0.0f, .d = 0.2f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .pit_omega = { .k = 0.4f, .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, }, .pit_angle = { .k = 8.0f, .p = 5.0f, .i = 2.5f, .d = 0.2f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, }, .mech_zero = { .yaw = 0.0f, .pit = 2.98220015, //0.195206895 }, .travel = { .yaw = -1.0f, .pit = 0.6, }, .low_pass_cutoff_freq = { .out = -1.0f, .gyro = 1000.0f, }, .pit_motor ={ .can = BSP_CAN_1, .can_id = 0x2, .master_id = 0x12, .module = MOTOR_DM_J4310, .reverse = false, }, .yaw_motor = { .can = BSP_CAN_1, .can_id = 0x50, .master_id = 0x60, .module = MOTOR_DM_J4310, .reverse = false, } }, .shoot_param = { .basic={ .projectileType=SHOOT_PROJECTILE_42MM, .fric_num=6, .extra_deceleration_ratio=1.0f, .num_trig_tooth=5, .shot_freq=1.0f, .shot_burst_num=3, .ratio_multilevel = {0.8f, 1.0f}, }, .jamDetection={ .enable=true, .threshold=240.0f, .suspectedTime=0.5f, }, .motor={ .fric = { { .param = { .can = BSP_CAN_2, .id = 0x201, .module = MOTOR_M3508, .reverse = false, .gear = false, }, .level=1, }, { .param = { .can = BSP_CAN_2, .id = 0x202, .module = MOTOR_M3508, .reverse = true, .gear = false, }, .level=1, }, { .param = { .can = BSP_CAN_2, .id = 0x203, .module = MOTOR_M3508, .reverse = true, .gear = false, }, .level=1, }, { .param = { .can = BSP_CAN_2, .id = 0x204, .module = MOTOR_M3508, .reverse = false, .gear = false, }, .level=2, }, { .param = { .can = BSP_CAN_2, .id = 0x205, .module = MOTOR_M3508, .reverse = true, .gear = false, }, .level=2, }, { .param = { .can = BSP_CAN_2, .id = 0x206, .module = MOTOR_M3508, .reverse = true, .gear = false, }, .level=2, } }, .trig = { .can = BSP_CAN_1, .id = 0x207, .module = MOTOR_M3508, .reverse = false, .gear=true, }, }, .pid={ .fric_follow = { .k=1.0f, .p=1.5f, .i=0.3f, .d=0.0f, .i_limit=0.2f, .out_limit=0.9f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, .fric_err = { .k=0.0f, .p=4.0f, .i=0.4f, .d=0.0f, .i_limit=0.25f, .out_limit=0.25f, .d_cutoff_freq=-1.0f, .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, }, .trig = { .in = 30.0f, .out = 30.0f, }, }, }, .cmd_param={ .sourcePriorityConfigs={ {CMD_SRC_RC,1}, {CMD_SRC_PC,2}, {CMD_SRC_NUC,3}, {CMD_SRC_REF,4} }, .pc.map = { .key_map[CMD_BEHAVIOR_FORE] = {CMD_KEY_W, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_BACK] = {CMD_KEY_S, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_LEFT] = {CMD_KEY_A, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_RIGHT] = {CMD_KEY_D, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_ACCELERATE] = {CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_DECELEBRATE] = {CMD_KEY_CTRL, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_FIRE] = {CMD_L_CLICK, CMD_ACTIVE_PRESSED}, .key_map[CMD_BEHAVIOR_FIRE_MODE] = {CMD_R_CLICK, CMD_ACTIVE_RISING_EDGE}, .key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35] = {CMD_KEY_E, CMD_ACTIVE_RISING_EDGE}, .key_map[CMD_BEHAVIOR_OPENCOVER] = {CMD_KEY_F, CMD_ACTIVE_RISING_EDGE}, .key_map[CMD_BEHAVIOR_REVTRIG] = {CMD_KEY_R, CMD_ACTIVE_RISING_EDGE}, .key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_RISING_EDGE}, }, .pc.sensitivity={ .move_sense=1.6f, .sens_mouse=0.06f, .move_fast_sense=2.4f, .move_slow_sense=0.8f }, }, }; /* 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; }