546 lines
15 KiB
C
546 lines
15 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/fdcan.h"
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#include "device/motor_dm.h"
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#include "module/cmd/cmd.h"
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#include <stdbool.h>
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#include "device/gimbal_imu.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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.ref_screen={
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.width=1920,
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.height=1080,
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},
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.aimbot_param = {
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.can = BSP_FDCAN_2,
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.cmd_id = 0x520, /* 上层板→下层板 AI指令帧ID (共3帧: 0x520~0x522) */
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.fb_base_id = 0x524, /* 下层板→上层板 反馈起始ID */
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},
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.imu_param = {
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.can=BSP_FDCAN_2,
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.accl_id=0x100,
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.gyro_id=0x101,
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.eulr_id=0x102,
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.quat_id=0x103,
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},
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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_FDCAN_3,
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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_FDCAN_3,
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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_FDCAN_3,
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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_FDCAN_3,
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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 = 0.0015f,
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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 = 1.2f,
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.p = 1.0f,
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.i = 0.5f,
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.d = 0.01f,
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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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.absolute = {
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.yaw_omega = {
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.k = 1.0f,//1
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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 = 4.0f,
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.p = 5.0f,
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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 = 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 = 1.0f,//0.4
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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 = 6.0f,
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.p = 3.0f,
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.i = 2.0f,
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.d = 0.0f,
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.i_limit = 2.0f,
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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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.relative = {
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.yaw_omega = {
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.k = 0.8f,
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.p = 0.8f,
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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 = 5.0f,
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.p = 2.5f,
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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 = 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 = 0.8f,//0.4
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.p = 0.8f,
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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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.pit_angle = {
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.k = 5.0f,
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.p = 2.0f,
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.i = 0.0f,
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.d = 0.25f,
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.i_limit = 2.0f,
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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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.aimbot = {
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.yaw_omega = {
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.k = 1.0f,//1
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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 = 2.0f,
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.p = 5.0f,
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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 = 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 = 1.0f,//0.4
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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 = 3.0f,
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.p = 2.0f,
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.i = 2.0f,
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.d = 0.0f,
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.i_limit = 2.0f,
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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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},
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.mech_zero = {
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.yaw = 0.0f,
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.pit = 0.9f,
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},
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.travel = {
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.yaw = -1.0f,
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.pit = 0.65f,
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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_FDCAN_2,
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.can_id = 0x02,
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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_FDCAN_2,
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.can_id = 0x01,
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.master_id = 0x11,
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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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.heatControl={
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.enable=true,
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.safe_shots=0.00f, // 安全出弹余量比例（10%）
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.nmax=3.0f, // 最大射频 Hz
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.Hwarn=0.70f, // 预警阈值比例（70%）
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.Hsatu=0.40f, // 饱和阈值比例（40%）
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.Hthres=0.08f, // 停射阈值比例（8%）
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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_FDCAN_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 = 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_FDCAN_1,
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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_FDCAN_1,
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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_FDCAN_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 = 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_FDCAN_1,
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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_FDCAN_1,
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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_FDCAN_2,
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.id = 0x205,
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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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.source_priority = {
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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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.sensitivity = {
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.mouse_sens = 2.0f,
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.move_sens = 1.0f,
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.move_fast_mult = 1.5f,
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.move_slow_mult = 0.5f,
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},
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.rc_mode_map = {
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.sw_left_up = CHASSIS_MODE_RELAX,
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.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
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.sw_left_down = CHASSIS_MODE_RELAX,
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.gimbal_sw_up = GIMBAL_MODE_ABSOLUTE,
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.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
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.gimbal_sw_down = GIMBAL_MODE_AI_CONTROL,
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.track_sw_up = false,
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.track_sw_mid = true,
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.track_sw_down = false,
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},
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},
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.track_param={
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.motor = {
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{
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.can = BSP_FDCAN_3,
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.can_id = 0x04,
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.master_id = 0x14,
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.module = MOTOR_DM_J4310,
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.reverse = true,
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},
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{
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.can = BSP_FDCAN_3,
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.can_id = 0x03,
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.master_id = 0x13,
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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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.pid = {
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{
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.k = 0.75f,
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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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{
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.k = 0.75f,
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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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},
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.pid_w ={
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.k = 0.0f,
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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 = 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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};
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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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};
|
||
/* 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;
|
||
}
|