150 lines
3.9 KiB
C
150 lines
3.9 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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.fric_num=6,
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.num_trig_tooth=8,
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.shot_freq=20.0f,
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.shot_burst_num=1,
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.num_multilevel=1,
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.jam_enable=true,
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.jam_threshold=120.0f,
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.jam_suspected_time=0.5f,
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.trig_motor_param = {
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.can = BSP_CAN_2,
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.id = 0x207,
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.module = MOTOR_M2006,
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.reverse = true,
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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_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=0.0f,
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.p=0.0f,
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.i=0.0f,
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.d=0.00f,
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.i_limit=0.0f,
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.out_limit=0.0f,
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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=0.0f,
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.p=0.0f,
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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=0.0f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.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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}
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/**
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* @brief 初始化机器人配置参数
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* @return 初始化结果
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*/
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int8_t Config_ShootInit(void) {
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int fric_num = robot_config.shoot_param.fric_num;
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int num_multilevel = robot_config.shoot_param.num_multilevel;
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robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
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if (robot_config.shoot_param.fric_motor_param == NULL) {
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return -1; // 内存分配失败
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}
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// 初始化摩擦轮参数
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for (uint8_t i = 0; i < fric_num; i++) {
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robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
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.can = BSP_CAN_2,
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.id = 0x201 + i,
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.module = MOTOR_M3508,
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.reverse = (i == 0||1) ? true : false,
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.gear = false,
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};
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}
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if(num_multilevel==1){
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robot_config.shoot_param.ratio_multilevel[0]=1.0f;
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}
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else if(num_multilevel>1){
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robot_config.shoot_param.ratio_multilevel[0]=1.0f;
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robot_config.shoot_param.ratio_multilevel[1]=1.1f;
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}
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return SHOOT_OK;
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} |