70 lines
1.8 KiB
C
70 lines
1.8 KiB
C
/*
|
|
* far♂蛇模块
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdbool.h>
|
|
#include <stddef.h>
|
|
#include <stdint.h>
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include "main.h"
|
|
#include "component/pid.h"
|
|
#include "device/motor_rm.h"
|
|
#include "module/chassis.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[TRACK_MOTOR_NUM];
|
|
|
|
struct {
|
|
float currentOut[TRACK_MOTOR_NUM];
|
|
}output;
|
|
} Track_t;
|
|
|
|
/* Exported functions prototypes -------------------------------------------- */
|
|
uint8_t Track_Init(Track_t *t, Track_Params_t *param, float target_freq);
|
|
uint8_t Track_UpdateFeedback(Track_t *t);
|
|
uint8_t Track_AutoControl(Track_t *t, const Chassis_t *chassis);
|
|
uint8_t Track_Output(Track_t *t);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
|
|
|