368 lines
8.5 KiB
C
368 lines
8.5 KiB
C
/*
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* 配置相关
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "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 "chassis.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_2,0x201,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_1,0x207,MOTOR_GM6020,false,false},
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.motor_6020_param[3]={BSP_CAN_1,0x208,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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.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=Rol,
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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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// .Accl={
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// .pit=Accl_z,
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// .yaw=Accl_y,
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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= 0.15,
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.pit_min=-0.23,
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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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.K_yaw=0,
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.K_pit=0,
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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=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={},
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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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.major_yaw_dm_motor={
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.can=BSP_CAN_2,
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.can_id = 0x1,
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.master_id=0x11,
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.module = MOTOR_DM_J4310,
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.reverse=false
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},
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.pit_dm_motor={
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.can=BSP_CAN_2,
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.can_id = 0x2,
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.master_id=0x12,
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.module = MOTOR_DM_J4310,
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.reverse=true,
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},
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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=0.1,},
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// .yaw_dm_Reduction_ratio=1.0f,//减速比
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.pit_dm={.kd=0.2,},
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.pit_dm_Reduction_ratio=1.0f,
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.major_yaw_dm={.kd=0.1,},
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.major_yaw_dm_Reduction_ratio=1.0f,//减速比
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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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/* 大yaw参数 */
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.major_yaw_omega={
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.k = 0.0f,
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.p = 0.3f,
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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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.major_yaw_angle={
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.k = 2.0f,
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.p = 40.5f,//36.5
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.i = 0.0f,
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.d = 0.12f,
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.i_limit = 0.0f,
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.out_limit = 7.0f,
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.d_cutoff_freq = 20.0f,
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.range = M_2PI
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},
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/*欧拉角控制参数*/
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.yaw_omega = {
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.k = 0.30f,
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.p = 0.4f,
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.i = 0.01f,
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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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.yaw_angle = {
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.k = 2.0f,
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.p = 2.5f,
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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 = 0.0f,
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.range = M_2PI
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},
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.pit_omega = {
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.k = 0.3f,
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.p = 0.3f,
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.i = 0.0f,
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.d = 0.0,
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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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.pit_angle = {
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.k = -2.0f,
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.p = 9.0f,
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.i = 4.0f,
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.d = 0.1f,
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.i_limit = 1.0f,
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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=6,
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.extra_deceleration_ratio=1.0f,
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.num_trig_tooth=5,
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.shot_freq=1.0f,
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.shot_burst_num=3,
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.ratio_multilevel = {0.8f, 1.0f},
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},
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.jamDetection={
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.enable=true,
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.threshold=310.0f,
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.suspectedTime=0.5f,
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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_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 = 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_1,
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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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.level=1,
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},
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},
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.trig = {
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.can = BSP_CAN_1,
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.id = 0x205,
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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=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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},
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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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.cmd_param={
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.source_priority = {
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CMD_SRC_RC,
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CMD_SRC_PC,
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CMD_SRC_NUC,
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CMD_SRC_REF,
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},
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.sensitivity = {
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.mouse_sens = 2.0f,
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.move_sens = 1.0f,
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.move_fast_mult = 1.5f,
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.move_slow_mult = 0.5f,
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},
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.rc_mode_map = {
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.sw_left_up = CHASSIS_MODE_RELAX,
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.sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL,
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.sw_left_down = CHASSIS_MODE_RELAX,
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.gimbal_sw_up = GIMBAL_MODE_ABSOLUTE,
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.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
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.gimbal_sw_down = GIMBAL_MODE_ABSOLUTE,
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.shoot_sw_up = SHOOT_MODE_SAFE,
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.shoot_sw_mid = SHOOT_MODE_SINGLE,
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.shoot_sw_down = SHOOT_MODE_BURST,
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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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