132 lines
3.1 KiB
C
132 lines
3.1 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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/* 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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/*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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/*零点行程*/
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.travel={
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.yaw=0,
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.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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.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_1,0x205,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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};
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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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