330 lines
8.1 KiB
C
330 lines
8.1 KiB
C
/*
|
||
* 配置相关
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "user_math.h"
|
||
#include "module/config.h"
|
||
#include "bsp/can.h"
|
||
#include "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,
|
||
},
|
||
// .Accl={
|
||
// .pit=Accl_z,
|
||
// .yaw=Accl_y,
|
||
// },
|
||
|
||
},
|
||
/*欧拉角限位和电机角度限位*/
|
||
.Limit_t= {
|
||
.pit_max= 0.15,
|
||
.pit_min=-0.23,
|
||
/*零点参数*/
|
||
.zero={
|
||
.yaw_encoder=1.26,
|
||
|
||
.travel={
|
||
.yaw=1.5,
|
||
},
|
||
},
|
||
},
|
||
|
||
|
||
.feedforward={
|
||
.imu = {
|
||
.yaw=false,
|
||
.pit=false,
|
||
.coefficient_yaw=0,
|
||
.coefficient_pit=0,
|
||
},
|
||
|
||
},
|
||
|
||
|
||
|
||
.motor={
|
||
/*按自己需求选择电机*/
|
||
.major_yaw=DM,
|
||
.pit=DM,
|
||
.yaw=RM,
|
||
/*是否开启限位*/
|
||
.limit_yaw=false,
|
||
.limit_pit=true,
|
||
.pit_rm_motor={},
|
||
.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},
|
||
/*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=0.1,},
|
||
.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 = 0.3f,
|
||
.i = 0.0f,
|
||
.d = 0.0f,
|
||
.i_limit = 0.0f,
|
||
.out_limit = 1.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = -1.0f
|
||
},
|
||
.major_yaw_angle={
|
||
.k = 2.0f,
|
||
.p = 40.5f,//36.5
|
||
.i = 0.0f,
|
||
.d = 0.12f,
|
||
.i_limit = 0.0f,
|
||
.out_limit = 7.0f,
|
||
.d_cutoff_freq = 20.0f,
|
||
.range = M_2PI
|
||
},
|
||
|
||
/*欧拉角控制参数*/
|
||
|
||
.yaw_omega = {
|
||
.k = 0.30f,
|
||
.p = 0.4f,
|
||
.i = 0.01f,
|
||
.d = 0.0f,
|
||
.i_limit = 1.0f,
|
||
.out_limit = 1.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = -1.0f
|
||
},
|
||
.yaw_angle = {
|
||
.k = 2.0f,
|
||
.p = 2.5f,
|
||
.i = 0.0f,
|
||
.d = 0.0f,
|
||
.i_limit = 0.0f,
|
||
.out_limit = 10.0f,
|
||
.d_cutoff_freq = 0.0f,
|
||
.range = M_2PI
|
||
},
|
||
.pit_omega = {
|
||
.k = 0.3f,
|
||
.p = 0.3f,
|
||
.i = 0.0f,
|
||
.d = 0.0,
|
||
.i_limit = 1.0f,
|
||
.out_limit = 1.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = -1.0f,
|
||
},
|
||
.pit_angle = {
|
||
.k = -2.0f,
|
||
.p = 9.0f,
|
||
.i = 4.0f,
|
||
.d = 0.1f,
|
||
.i_limit = 1.0f,
|
||
.out_limit = 7.0f,
|
||
.d_cutoff_freq = -1.0f,
|
||
.range = M_2PI,
|
||
},
|
||
|
||
|
||
}
|
||
},
|
||
|
||
.shoot_param = {
|
||
.proj=SHOOT_PROJECTILE_17MM,
|
||
.fric_num=4,
|
||
.extra_deceleration_ratio=1.0f,
|
||
.num_trig_tooth=2,
|
||
.shot_freq=20.0f,
|
||
.shot_burst_num=10,
|
||
.num_multilevel=1,
|
||
.jam_enable=false,
|
||
.jam_threshold=120.0f,
|
||
.jam_suspected_time=0.5f,
|
||
.trig_motor_param = {
|
||
.can = BSP_CAN_2,
|
||
.id = 0x207,
|
||
.module = MOTOR_M2006,
|
||
.reverse = true,
|
||
.gear=true,
|
||
},
|
||
// .fric_motor_param = (Shoot_MOTOR_RM_Param_t[]){
|
||
// {
|
||
// .param = {
|
||
// .can = BSP_CAN_2,
|
||
// .id = 0x201,
|
||
// .module = MOTOR_M3508,
|
||
// .reverse = false,
|
||
// .gear=true,},
|
||
// .level = 1},
|
||
// {
|
||
// .param = {
|
||
// .can = BSP_CAN_2,
|
||
// .id = 0x203,
|
||
// .module = MOTOR_M3508,
|
||
// .reverse = true,
|
||
// .gear=true,},
|
||
// .level = 1},
|
||
//// {.param = {.can = BSP_CAN_1, .id = 0x203, .module = MOTOR_M3508}, .level = 2},
|
||
// {.param = {.can = BSP_CAN_1, .id = 0x204, .module = MOTOR_M3508}, .level = 2},
|
||
// },
|
||
.fric_follow = {
|
||
.k=1.0f,
|
||
.p=1.8f,
|
||
.i=0.0f,
|
||
.d=0.0f,
|
||
.i_limit=0.0f,
|
||
.out_limit=0.9f,
|
||
.d_cutoff_freq=30.0f,
|
||
.range=-1.0f,
|
||
},
|
||
.fric_err = {
|
||
.k=0.0f,
|
||
.p=4.0f,
|
||
.i=0.4f,
|
||
.d=0.04f,
|
||
.i_limit=0.25f,
|
||
.out_limit=0.25f,
|
||
.d_cutoff_freq=40.0f,
|
||
.range=-1.0f,
|
||
},
|
||
.trig_2006 = {
|
||
.k=0.5f,
|
||
.p=1.0f,
|
||
.i=0.1f,
|
||
.d=0.05f,
|
||
.i_limit=0.8f,
|
||
.out_limit=0.5f,
|
||
.d_cutoff_freq=-1.0f,
|
||
.range=M_2PI,
|
||
},
|
||
.trig_omg_2006 = {
|
||
.k=0.5f,
|
||
.p=1.5f,
|
||
.i=0.3f,
|
||
.d=0.5f,
|
||
.i_limit=0.2f,
|
||
.out_limit=0.9f,
|
||
.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,
|
||
},
|
||
.filter.trig = {
|
||
.in = 30.0f,
|
||
.out = 30.0f,
|
||
},
|
||
},
|
||
|
||
};
|
||
|
||
|
||
/**
|
||
* @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;
|
||
}
|
||
|
||
int8_t Config_ShootInit(void) {
|
||
int fric_num = robot_config.shoot_param.fric_num;
|
||
int num_multilevel = robot_config.shoot_param.num_multilevel;
|
||
robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
|
||
if (robot_config.shoot_param.fric_motor_param == NULL) {
|
||
BSP_Free(robot_config.shoot_param.fric_motor_param);
|
||
return -1; // 内存分配失败
|
||
}
|
||
robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
|
||
if (robot_config.shoot_param.ratio_multilevel == NULL) {
|
||
BSP_Free(robot_config.shoot_param.ratio_multilevel);
|
||
return -1; // 内存分配失败
|
||
}
|
||
/* 初始化摩擦轮电机参数 */
|
||
for (uint8_t i = 0; i < fric_num; i++) {
|
||
robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
|
||
.can = BSP_CAN_2,
|
||
.id = 0x201 + i,
|
||
.module = MOTOR_M3508,
|
||
/*设置电机反装；example***********************
|
||
.reverse = (i == 0||1||3||5) ? true : false,*/
|
||
|
||
.reverse = (i == 1) ? true : false,
|
||
.gear = false,
|
||
};
|
||
}
|
||
/*规定电机属于哪级发射；example************************
|
||
robot_config.shoot_param.fric_motor_param[0].level=1;*/
|
||
robot_config.shoot_param.fric_motor_param[0].level=1;
|
||
robot_config.shoot_param.fric_motor_param[1].level=1;
|
||
/*规定各级摩擦轮转速比；example*********************
|
||
robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
|
||
robot_config.shoot_param.ratio_multilevel[0]=1.0f;
|
||
return SHOOT_OK;
|
||
} |