313 lines
6.8 KiB
C
313 lines
6.8 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "user_math.h"
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#include "module\config.h"
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#include "bsp\can.h"
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#include "module\shoot.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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.gimbal_param = {
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/* 云台欧拉角与角速度自由选择 */
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.Direction={
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.Eulr={
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.pit=Pit,
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.yaw=Yaw,
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},
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.Gyro={
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.pit=Gyro_x,
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.yaw=Gyro_z,
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},
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},
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/*欧拉角限位和电机角度限位*/
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.Limit_t= {
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.pit_max= 0.462614686,
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.pit_min=-0.518002629,
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/*零点参数*/
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.zero={
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.yaw_encoder=1.26,
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.travel={
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.yaw=1.5,
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},
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},
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},
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.feedforward={
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.imu = {
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.yaw=false,
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.pit=false,
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},
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},
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.motor={
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/*按自己需求选择电机*/
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// .major_yaw=DM,
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.pit=RM,
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.yaw=RM,
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/*是否开启限位*/
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.limit_yaw=false,
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.limit_pit=true,
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.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,true,false},
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.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},
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/*达妙电机参数自己配*/
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},
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.dm_Params_t={
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},
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.low_pass_cutoff_freq = {
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.out = -1.0f,
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.gyro = 1000.0f,
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},
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.pid = {
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/*欧拉角控制参数*/
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.yaw_omega = {
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.k = 0.45f,
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.p = 1.0f,
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.i = 6.0f,
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.d = 0.0008f,//0
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.i_limit = 1.0f,
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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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.yaw_angle = {
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.k = 10.0f,
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.p = 2.0f ,
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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 = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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.pit_omega = {
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.k = 0.25f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.001901f,
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.i_limit = 1.0f,
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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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.pit_angle = {
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.k = 2.0f,
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.p = 5.0f,
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.i = 2.5f,
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.d = 0.0f,
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.i_limit = 0.0f,
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.out_limit = 10.0f,
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.d_cutoff_freq = -1.0f,
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.range = M_2PI,
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},
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}
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},
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.shoot_param = {
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.basic={
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.projectileType=SHOOT_PROJECTILE_17MM,
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.fric_num=2,
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.extra_deceleration_ratio=36.0f,
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.num_trig_tooth=10,
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.shot_freq=10.0f,
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.shot_burst_num=5,
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.ratio_multilevel = {1.0f},
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},
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.jamDetection={
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.enable=true,
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.threshold=105.0f,
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.suspectedTime=1.0f,
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},
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.motor={
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.fric = {
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x205,
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.module = MOTOR_M2006,
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.reverse = false,
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.gear = false,
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},
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.level=1,
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},
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{
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.param = {
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.can = BSP_CAN_2,
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.id = 0x206,
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.module = MOTOR_M2006,
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.reverse = true,
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.gear = false,
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},
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.level=1,
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},
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},
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.trig = {
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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 = false,
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.gear=true,
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},
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},
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.pid={
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.fric_follow = {
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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=0.0f,
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.i_limit=0.2f,
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.out_limit=0.9f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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.fric_err = {
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.k=0.0f,
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.p=4.0f,
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.i=0.4f,
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.d=0.0f,
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.i_limit=0.25f,
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.out_limit=0.25f,
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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_2006 = {
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.k = 12.0f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0450000018f,
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.i_limit = 1.0f,
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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=0.f,
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.p=1.0f,
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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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},
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.filter={
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.fric = {
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.in = 30.0f,
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.out = 30.0f,
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},
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.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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.chassis_param = {
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/* DJI3508电机*/
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.motor_param = {
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{
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.can = BSP_CAN_1,
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.id = 0x201,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x202,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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{
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.can = BSP_CAN_1,
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.id = 0x204,
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.module = MOTOR_M3508,
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.reverse = false,
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.gear = true
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},
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},
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.type = CHASSIS_TYPE_MECANUM,
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/* PID */
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.pid = {
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/* 底盘电机 PID */
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.motor_pid_param = {
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.k = 0.001f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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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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/* 跟随 */
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.follow_pid_param = {
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.k = 0.5f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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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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},
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.low_pass_cutoff_freq = {
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.in = 50.0f,
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.out = 50.0f,
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},
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.reverse = {
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.yaw = false,
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},
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.limit = {
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.max_vx = 3.0f,
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.max_vy = 3.0f,
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.max_wz = 2.0f,
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.max_current = 16000.0f
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},
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},
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};
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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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