176 lines
3.9 KiB
C
176 lines
3.9 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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.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=0.391373187,
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.pit_min=-0.481532812,
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// .yaw_max= 1.0,//yaw的
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// .yaw_min=-1.0,
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/*零点参数*/
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.zero={
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.yaw_encoder=2.16981578,
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.travel={
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.yaw=1.95812655,
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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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.coefficient_yaw=0,
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.coefficient_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,若不用大yaw注释掉即可*/
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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=true,
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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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.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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// .can = BSP_CAN_1,
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// .can_id = 0x01,
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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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.dm_Params_t={
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.major_yaw_dm={.kd=0.0,},
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.major_yaw_dm_Reduction_ratio={1.0f,},
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// .yaw_dm={.kd=0.3,},
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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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},
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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欧拉角控制参数*/
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.major_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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.major_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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/*欧拉角控制参数*/
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.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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.yaw_angle = {
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.k = 2.0f,
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.p = 7.0f,
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.i = 0.01f,
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.d = 0.1f,
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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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.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 = 0.0f,
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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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.pit_angle = {
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.k = -2.0f,
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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 = 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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};
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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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