254 lines
5.9 KiB
C
254 lines
5.9 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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.chassis_param = {
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/* DJI3508µç»ú*/
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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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/* µ×Å̵ç»ú 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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/* ¸úËæ */
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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 = true,
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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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.gimbal_param = {
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/*欧拉角限位和电机角度限位*/
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.Set_Limit_t= {
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.pit_max=0.25,
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.pit_min=-0.53,
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.yaw_max= 1.0,//yaw的限位作用于小yaw
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.yaw_min=-1.0,
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.pit_ecd_max=0,
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.pit_ecd_min=0,
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.yaw_ecd_max=0,
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.yaw_ecd_min=0,
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},
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// .mech_zero = {
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// .yaw = 0.0f,
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// .pit = -0.69f,
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// },
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/*是否启动限位,1启动，-1不启动
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小yaw默认限位
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一般pit统一限位*/
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.travel = {
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.yaw = -1.0f,
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.pit = 1.0f,
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.ecd_yaw=-1.0f,
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.ecd_pit=1.0f,
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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=DM,
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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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.can = BSP_CAN_1,
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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 = false,
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},
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.yaw_dm_motor={
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.can = BSP_CAN_1,
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.can_id = 0x50,
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.master_id = 0x60,
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.module = MOTOR_DM_J4310,
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.reverse = false,
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},
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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 = 1.0f,
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.p = 0.1f,
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.i = 0.2f,
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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 = 8.0f,
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.p = 4.0f,
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.i = 0.0f,
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.d = 0.2f,
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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 = 0.4f,
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.p = 0.0f,
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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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.pit_angle = {
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.k = 8.0f,
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.p = 5.0f,
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.i = 2.5f,
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.d = 0.2f,
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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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/*电机控制参数*/
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.yaw_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 = 0.000f,//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_ecd_angle = {
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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 = 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_velocity = {
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.k = 0.0f,
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.p = 0.0f,
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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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.pit_ecd_angle = {
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.k = 1.0f,
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.p = 0.0f,
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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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}
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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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