393 lines
11 KiB
C
393 lines
11 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/config.h"
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#include "bsp/can.h"
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#include "device/motor_dm.h"
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#include "module/cmd.h"
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#include <stdbool.h>
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Exported variables ------------------------------------------------------- */
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// 机器人参数配置
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Config_RobotParam_t robot_config = {
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.chassis_param = {
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/* DJI3508µç»ú*/
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.motor_param = {
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{
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.can = BSP_CAN_1,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x204,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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},
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.type = CHASSIS_TYPE_MECANUM,
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/* PID */
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.pid = {
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/* µ×Å̵ç»ú PID */
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.motor_pid_param = {
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.k = 0.001f,
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.p = 1.0f,
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.i = 0.0f,
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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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/* ¸úËæ */
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.follow_pid_param = {
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.k = 0.5f,
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.p = 1.0f,
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.i = 0.0f,
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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 = M_2PI,
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},
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},
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.low_pass_cutoff_freq = {
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.in = 50.0f,
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.out = 50.0f,
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},
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.reverse = {
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.yaw = true,
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},
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.limit = {
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.max_vx = 3.0f,
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.max_vy = 3.0f,
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.max_wz = 2.0f,
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.max_current = 16000.0f
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},
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},
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.gimbal_param = {
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.pid = {
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.yaw_omega = {
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.k = 1.0f,
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.p = 1.0f,
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.i = 0.3f,
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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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.yaw_angle = {
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.k = 8.0f,
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.p = 4.0f,
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.i = 0.0f,
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.d = 0.2f,
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.i_limit = 0.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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.pit_omega = {
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.k = 0.4f,
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.p = 1.0f,
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.i = 0.0f,
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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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.pit_angle = {
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.k = 8.0f,
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.p = 5.0f,
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.i = 2.5f,
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.d = 0.2f,
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.i_limit = 0.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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},
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.mech_zero = {
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.yaw = 0.0f,
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.pit = 2.98220015, //0.195206895
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},
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.travel = {
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.yaw = -1.0f,
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.pit = 0.6,
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},
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.low_pass_cutoff_freq = {
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.out = -1.0f,
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.gyro = 1000.0f,
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},
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.pit_motor ={
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.can = BSP_CAN_1,
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.can_id = 0x2,
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.master_id = 0x12,
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.module = MOTOR_DM_J4310,
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.reverse = false,
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},
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.yaw_motor = {
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.can = BSP_CAN_1,
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.can_id = 0x50,
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.master_id = 0x60,
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.module = MOTOR_DM_J4310,
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.reverse = false,
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}
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},
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.shoot_param = {
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.basic={
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.projectileType=SHOOT_PROJECTILE_42MM,
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.fric_num=6,
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.extra_deceleration_ratio=1.0f,
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.num_trig_tooth=5,
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.shot_freq=1.0f,
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.shot_burst_num=3,
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.ratio_multilevel = {0.8f, 1.0f},
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},
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.jamDetection={
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.enable=true,
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.threshold=310.0f,
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.suspectedTime=0.5f,
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},
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.motor={
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.fric = {
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = false,
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},
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.level=1,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = true,
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.gear = false,
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},
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.level=1,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x203,
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.module = MOTOR_M3508,
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.reverse = true,
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.gear = false,
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},
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.level=1,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x204,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = false,
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},
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.level=2,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x205,
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.module = MOTOR_M3508,
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.reverse = true,
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.gear = false,
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},
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.level=2,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x206,
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.module = MOTOR_M3508,
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.reverse = true,
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.gear = false,
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},
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.level=2,
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}
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},
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.trig = {
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.can = BSP_CAN_1,
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.id = 0x207,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear=true,
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},
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},
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.pid={
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.fric_follow = {
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.k=1.0f,
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.p=1.5f,
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.i=0.3f,
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.d=0.0f,
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.i_limit=0.2f,
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.out_limit=0.9f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.fric_err = {
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.k=0.0f,
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.p=4.0f,
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.i=0.4f,
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.d=0.0f,
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.i_limit=0.25f,
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.out_limit=0.25f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.trig_2006 = {
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.k=2.5f,
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.p=1.0f,
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.i=0.1f,
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.d=0.04f,
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.i_limit=0.4f,
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.out_limit=1.0f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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.trig_omg_2006 = {
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.k=1.0f,
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.p=1.5f,
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.i=0.3f,
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.d=0.5f,
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.i_limit=0.2f,
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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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.trig_3508 = {
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.k=0.5f,
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.p=1.8f,
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.i=0.3f,
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.d=0.1f,
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.i_limit=0.15f,
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.out_limit=1.0f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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.trig_omg_3508 = {
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.k=1.0f,
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.p=1.0f,
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.i=0.0f,
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.d=0.0f,
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.i_limit=0.0f,
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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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.filter={
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.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.trig = {
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.in = 30.0f,
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.out = 30.0f,
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},
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},
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},
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.cmd_param={
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.sourcePriorityConfigs={
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CMD_SRC_RC,
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CMD_SRC_PC,
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CMD_SRC_NUC,
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CMD_SRC_REF
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},
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.pc.map = { /*1<<CMD_KEY_W记录一下不要忘了这个思路 */
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.key_map[CMD_BEHAVIOR_FORE] = {CMD_KEY_W, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_BACK] = {CMD_KEY_S, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_LEFT] = {CMD_KEY_A, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_RIGHT] = {CMD_KEY_D, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_ACCELERATE] = {CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_DECELEBRATE] = {CMD_KEY_CTRL, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_FIRE] = {CMD_L_CLICK, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_FIRE_MODE] = {CMD_R_CLICK, CMD_ACTIVE_RISING_EDGE},
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.key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35] = {CMD_KEY_E, CMD_ACTIVE_RISING_EDGE},
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.key_map[CMD_BEHAVIOR_OPENCOVER] = {CMD_KEY_F, CMD_ACTIVE_RISING_EDGE},
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.key_map[CMD_BEHAVIOR_REVTRIG] = {CMD_KEY_R, CMD_ACTIVE_RISING_EDGE},
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.key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_PRESSED},
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.key_map[CMD_BEHAVIOR_GIMBAL_MODE] = {CMD_KEY_V, CMD_ACTIVE_RISING_EDGE},
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},
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.pc.sensitivity={
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.move_sense=0.1f,
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.sens_mouse=3.0f,
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.move_fast_sense=2.4f,
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.move_slow_sense=0.8f
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},
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},
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};
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power_model_t cha=
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{
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.motor_num =4,
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.constant= 0.7910660075305308,
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.k1 = 98.97509148647588,
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.k2= 0.00018014375383727376,
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.toque_coefficient =0.4568913750568248,
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.power = (float[4]){}
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};
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power_model_t cha2=
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{
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.motor_num =4,
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.constant= 2.354223704504904,
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.k1 = 94.85324024176896,
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.k2= 0.00012622263917529537,
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.toque_coefficient =0.3680225540649464,
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.power = (float[4]){}
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};
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/* Private function prototypes ---------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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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_RobotParam_t* Config_GetRobotParam(void) {
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return &robot_config;
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}
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