/* * 配置相关 */ /* Includes ----------------------------------------------------------------- */ #include "user_math.h" #include "module\config.h" #include "bsp\can.h" #include "module\shoot.h" /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* Exported variables ------------------------------------------------------- */ // 机器人参数配置 Config_RobotParam_t robot_config = { .gimbal_param = { /* 云台欧拉角与角速度自由选择 */ .Direction={ .Eulr={ .pit=Rol, .yaw=Yaw, }, .Gyro={ .pit=Gyro_x, .yaw=Gyro_z, }, }, /*欧拉角限位和电机角度限位*/ .Limit_t= { .pit_max= 0.21, .pit_min=-0.53, /*零点参数*/ .zero={ .yaw_encoder=1.26, .travel={ .yaw=1.5, }, }, }, .feedforward={ .imu = { .yaw=false, .pit=false, }, }, .motor={ /*按自己需求选择电机*/ // .major_yaw=DM, .pit=RM, .yaw=RM, /*是否开启限位*/ .limit_yaw=false, .limit_pit=true, .pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,true}, .yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,true}, /*达妙电机参数自己配*/ .major_yaw_dm_motor={ .can=BSP_CAN_2, .can_id = 0x1, .master_id=0x11, .module = MOTOR_DM_J4310, .reverse=false }, .pit_dm_motor={ .can=BSP_CAN_2, .can_id = 0x2, .master_id=0x12, .module = MOTOR_DM_J4310, .reverse=true, }, // .yaw_dm_motor={}, }, .dm_Params_t={ // .yaw_dm={.kd=0.1,}, // .yaw_dm_Reduction_ratio=1.0f,//减速比 .pit_dm={.kd=0.2,}, .pit_dm_Reduction_ratio=1.0f, .major_yaw_dm={.kd=0.2,}, .major_yaw_dm_Reduction_ratio=1.0f,//减速比 }, .low_pass_cutoff_freq = { .out = -1.0f, .gyro = 1000.0f, }, .pid = { /* 大yaw参数 */ .major_yaw_omega={ .k = 0.0f, .p = 0.08f, .i = 0.1f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 12.0f, .d_cutoff_freq = -1.0f, .range = -1.0f }, .major_yaw_angle={ .k = 1.0f, .p = 75.0f,//36.5 .i = 20.0f, .d = 0.2f, .i_limit =5.0f, .out_limit = 12.0f, .d_cutoff_freq = 20.0f, .range = M_2PI }, /*欧拉角控制参数*/ .yaw_omega = { .k = 0.24f, .p = 1.0f, .i = 0.5f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .yaw_angle = { .k = 10.0f, .p = 1.0f, .i = 0.0f, .d = 0.05f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .pit_omega = { .k = 0.25f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, .pit_angle = { .k = 2.0f, .p = 5.0f, .i = 2.5f, .d = 0.0f, .i_limit = 0.0f, .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, } }, .shoot_param = { .basic={ .projectileType=SHOOT_PROJECTILE_17MM, .fric_num=2, .extra_deceleration_ratio=36.0f, .num_trig_tooth=10, .shot_freq=10.0f, .shot_burst_num=5, .ratio_multilevel = {1.0f}, }, .jamDetection={ .enable=true, .threshold=105.0f, .suspectedTime=1.0f, }, .motor={ .fric = { { .param = { .can = BSP_CAN_2, .id = 0x201, .module = MOTOR_M2006, .reverse = false, .gear = false, }, .level=1, }, { .param = { .can = BSP_CAN_2, .id = 0x202, .module = MOTOR_M2006, .reverse = true, .gear = false, }, .level=1, }, }, .trig = { .can = BSP_CAN_2, .id = 0x203, .module = MOTOR_M2006, .reverse = false, .gear=true, }, }, .pid={ .fric_follow = { .k = 0.001f, .p = 1.0f, .i = 0.2f, .d = 0.01f, .i_limit = 0.5f, .out_limit = 0.5f, .d_cutoff_freq = -1.0f, }, .fric_err = { .k=0.0f, .p=4.0f, .i=0.4f, .d=0.0f, .i_limit=0.25f, .out_limit=0.25f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, .trig_2006 = { .k = 12.0f, .p = 1.0f, .i = 0.0f, .d = 0.0450000018f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, .trig_omg_2006 = { .k=2.0f, .p=1.5f, .i=0.3f, .d=0.5f, .i_limit=0.2f, .out_limit=1.0f, .d_cutoff_freq=-1.0f, .range=-1.0f, }, // .trig_3508 = { // .k=0.5f, // .p=1.8f, // .i=0.3f, // .d=0.1f, // .i_limit=0.15f, // .out_limit=1.0f, // .d_cutoff_freq=-1.0f, // .range=M_2PI, // }, // .trig_omg_3508 = { // .k=1.0f, // .p=1.0f, // .i=0.0f, // .d=0.0f, // .i_limit=0.0f, // .out_limit=1.0f, // .d_cutoff_freq=-1.0f, // .range=-1.0f, // }, }, .filter={ .fric = { .in = 30.0f, .out = 30.0f, }, .trig = { .in = 30.0f, .out = 30.0f, }, }, }, .chassis_param = { /* DJI3508电机*/ .motor_param = { { .can = BSP_CAN_1, .id = 0x201, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x202, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508, .reverse = false, .gear = true }, { .can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508, .reverse = false, .gear = true }, }, .type = CHASSIS_TYPE_MECANUM, /* PID */ .pid = { /* 底盘电机 PID */ .motor_pid_param = { .k = 0.001f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = -1.0f, }, /* 跟随 */ .follow_pid_param = { .k = 0.5f, .p = 1.0f, .i = 0.0f, .d = 0.0f, .i_limit = 1.0f, .out_limit = 1.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, }, }, .low_pass_cutoff_freq = { .in = 50.0f, .out = 50.0f, }, .reverse = { .yaw = false, }, .limit = { .max_vx = 3.0f, .max_vy = 3.0f, .max_wz = 2.0f, .max_current = 16000.0f }, }, }; /** * @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; }