350 lines
9.0 KiB
C
350 lines
9.0 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 "shoot.h"
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#include "chassic.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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.chassis={
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.motor_3508_param[0]={BSP_CAN_1,0x201,MOTOR_M3508,false,false},
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.motor_3508_param[1]={BSP_CAN_1,0x202,MOTOR_M3508,false,false},
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.motor_3508_param[2]={BSP_CAN_1,0x203,MOTOR_M3508,false,false},
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.motor_3508_param[3]={BSP_CAN_1,0x204,MOTOR_M3508,false,false},
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.motor_6020_param[0]={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},
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.motor_6020_param[1]={BSP_CAN_1,0x206,MOTOR_GM6020,false,false},
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.motor_6020_param[2]={BSP_CAN_2,0x207,MOTOR_GM6020,false,false},
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.motor_6020_param[3]={BSP_CAN_2,0x208,MOTOR_GM6020,false,false},
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.C6020Omega_param={
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.k=1.0f,
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.p=0.5f,
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.i=0.1f,
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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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.C6020Angle_param={
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.k=0.2f,
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.p=0.21f,
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.i=0.1f,
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.d=0.0f,
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.i_limit=1.0f,
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.out_limit=30.0f,
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.d_cutoff_freq= -1.0f,
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.range=360
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},
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.M3508v_param={
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.k=0.2f,
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.p=0.25f,
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.i=0.1f,
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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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},
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.shoot_param = {
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.proj=SHOOT_PROJECTILE_17MM,
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.fric_num=4,
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.extra_deceleration_ratio=1.0f,
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.num_trig_tooth=2,
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.shot_freq=20.0f,
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.shot_burst_num=10,
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.num_multilevel=1,
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.jam_enable=false,
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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_motor_param = (Shoot_MOTOR_RM_Param_t[]){
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// {
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// .param = {
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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 = false,
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// .gear=true,},
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// .level = 1},
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// {
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// .param = {
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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=true,},
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// .level = 1},
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//// {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
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// {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
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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=0.5f,
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.p=1.8f,
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.i=0.3f,
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.d=0.1f,
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.i_limit=0.15f,
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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_3508 = {
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.k=1.0f,
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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=0.0f,
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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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.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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.gimbal_param = {
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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=0.69,
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.pit_min=-0.47,
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.yaw_max= 1.0,//yaw的
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.yaw_min=-1.0,
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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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.coefficient_yaw=0,
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.coefficient_pit=0,
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},
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},
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/*零点参数*/
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.zero={
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.pit_encoder=0,
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.yaw_encoder=0,
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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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.pit=DM,
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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,false,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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.pit_dm_motor={},
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.yaw_dm_motor={},
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},
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.dm_Params_t={
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.yaw_dm={.kd=0.3,},
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.yaw_dm_Reduction_ratio=8.0f,//减速比
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.pit_dm={.kd=1.0,},
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.pit_dm_Reduction_ratio=5.0f,
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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 = 12.0f,
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.p = 2.1,
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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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}
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},
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.telescoping={
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.telescoping_motor={BSP_CAN_1,0x208,MOTOR_M2006,false,false},
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.circle=-1000.0,//负数是顺时针
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.pid={
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.Telescoping_velocity={
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.k=1.0f,
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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=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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.Telescoping_angle={
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.k=1.0f,//空载时pid参数超调
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.p=25.0f,
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.i=0.3f,
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.d=2.0f,//1.5
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.i_limit=0.4f,
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.out_limit=20000.0f,
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.d_cutoff_freq=-1.0f,
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.range=0,
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},
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},
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.low_pass_cutoff_freq={
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.out=30.0f,
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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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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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BSP_Free(robot_config.shoot_param.fric_motor_param);
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return -1; // 内存分配失败
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}
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robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
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if (robot_config.shoot_param.ratio_multilevel == NULL) {
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BSP_Free(robot_config.shoot_param.ratio_multilevel);
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return -1; // 内存分配失败
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}
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/* 初始化摩擦轮电机参数 */
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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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/*设置电机反装；example***********************
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.reverse = (i == 0||1||3||5) ? true : false,*/
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.reverse = (i == 1) ? true : false,
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.gear = false,
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};
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}
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/*规定电机属于哪级发射；example************************
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robot_config.shoot_param.fric_motor_param[0].level=1;*/
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robot_config.shoot_param.fric_motor_param[0].level=1;
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robot_config.shoot_param.fric_motor_param[1].level=1;
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/*规定各级摩擦轮转速比；example*********************
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robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
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robot_config.shoot_param.ratio_multilevel[0]=1.0f;
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return SHOOT_OK;
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}
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