136 lines
3.5 KiB
C
136 lines
3.5 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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/* 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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.shoot_param = {
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.trig_step_angle=M_2PI/8,
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.shot_delay_time=0.2f,
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.shot_burst_num=4,
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.jam_threshold=120.0f,
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.jam_suspected_time=0.5f,
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.fric_motor_param[0] = {
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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 = true,
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.gear=false,
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},
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.fric_motor_param[1] = {
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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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.fric_motor_param[2] = {
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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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.fric_motor_param[3] = {
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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 = true,
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.gear=false,
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},
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.fric_motor_param[4] = {
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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 = false,
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.gear=false,
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},
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.fric_motor_param[5] = {
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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 = false,
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.gear=false,
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},
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.trig_motor_param = {
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M2006,
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.reverse = false,
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.gear=true,
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},
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.fric_follow = {
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.k=1.0f,
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.p=1.8f,
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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=0.9f,
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.d_cutoff_freq=30.0f,
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.range=-1.0f,
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},
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.fric_err = {
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.k=1.0f,
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.p=4.0f,
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.i=0.4f,
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.d=0.04f,
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.i_limit=0.25f,
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.out_limit=0.25f,
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.d_cutoff_freq=40.0f,
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.range=-1.0f,
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},
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.trig = {
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.k=2.0f,
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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=0.8f,
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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 = {
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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=0.8f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.filter.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.filter.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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/* 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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} |