78 lines
2.0 KiB
C
78 lines
2.0 KiB
C
/*
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* far♂蛇模块
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*/
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#pragma once
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "main.h"
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#include "component/pid.h"
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#include "device/motor_rm.h"
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#include "module/chassis.h"
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/* Exported constants ------------------------------------------------------- */
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#define TRACK_MOTOR_NUM 2
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#define TRACK_CMD_RPM_MAX 8000.0f
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#define TRACK_OK (0) /* 运行正常 */
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#define TRACK_ERR_NULL (-1) /* 运行时发现NULL指针 */
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#define TRACK_ERR_ERR (-2) /* 运行时发现了其他错误 */
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#define TRACK_ERR_MODE (-3) /* 运行时配置了错误的Mode */
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#define TRACK_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
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#define TRACK_ERR_MALLOC (-5) /* 内存分配失败 */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef struct {
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float now; /* 当前时间，单位秒 */
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uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */
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float dt; /* 两次唤醒间隔时间，单位秒 */
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} Track_Timer_t;
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typedef struct {
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MOTOR_RM_Param_t motor[TRACK_MOTOR_NUM];
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KPID_Params_t pid[TRACK_MOTOR_NUM];
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KPID_Params_t pid_w[TRACK_MOTOR_NUM];
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} Track_Params_t;
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typedef struct {
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bool enable;
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float vel;
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float omega;
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} Track_CMD_t;
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typedef struct {
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Track_Params_t *param;
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Track_Timer_t timer;
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KPID_t pid[TRACK_MOTOR_NUM];
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KPID_t pid_w;
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MOTOR_RM_t motor[TRACK_MOTOR_NUM];
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struct {
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float seata;
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float w;
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float mix_motor[TRACK_MOTOR_NUM];
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}middle_val;
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struct {
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float currentOut[TRACK_MOTOR_NUM];
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}output;
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} Track_t;
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/* Exported functions prototypes -------------------------------------------- */
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uint8_t Track_Init(Track_t *t, Track_Params_t *param, float target_freq);
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uint8_t Track_UpdateFeedback(Track_t *t);
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uint8_t Track_Control(Track_t *t, Track_CMD_t *cmd);
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uint8_t Track_AutoControl(Track_t *t, const Chassis_t *chassis);
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uint8_t Track_Output(Track_t *t);
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#ifdef __cplusplus
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}
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#endif
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