200 lines
9.2 KiB
C
200 lines
9.2 KiB
C
#include "gimbal.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "ins_task.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "bmi088.h"
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#include "vofa.h"
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static attitude_t *gimba_IMU_data; // 云台IMU数据
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static DJIMotorInstance *yaw_motor, *pitch_motor;
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static Publisher_t *gimbal_pub; // 云台应用消息发布者(云台反馈给cmd)
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static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
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static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
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static float gravity_current = 0;
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static void LimitPitchAngleAuto() {
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/** 注意电机角度与陀螺仪角度方向是否相同
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* 目前 add > 0, 向下转动
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* 电机角度值减小
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* 陀螺仪角度值增大
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**/
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float add;
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float angle_set;
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add = gimbal_cmd_recv.pitch - gimba_IMU_data->Pitch;
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if(pitch_motor->measure.angle_single_round - add > PITCH_MAX_RELATIVE_ANGLE){
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if(add < 0.0f ){
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add = PITCH_MAX_ANGLE - pitch_motor->measure.angle_single_round;
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}
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}else if(pitch_motor->measure.angle_single_round - add < PITCH_MIN_RELATIVE_ANGLE){
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if(add > 0.0f){
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add = PITCH_MIN_RELATIVE_ANGLE - pitch_motor->measure.angle_single_round;
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}
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}
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angle_set = gimba_IMU_data->Pitch;
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DJIMotorSetRef(pitch_motor, angle_set+add);
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}
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void GimbalInit() {
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gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
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// YAW
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Motor_Init_Config_s yaw_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.8f,//1.2
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.Ki = 0.0f,//0
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.Kd = 0.04f,//0.05
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.DeadBand = 0.0f,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = 5000, //4000
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.Ki = 100.0f, //100
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.Kd = 0.03f, //0
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 10000,
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.MaxOut = 15000,
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},
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.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
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// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
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.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2],
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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},
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.motor_type = GM6020,
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.motor_control_type = CURRENT_CONTROL
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};
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// PITCH
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Motor_Init_Config_s pitch_config = {
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.can_init_config = {
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.can_handle = &hcan2,
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.tx_id = 1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 1.0f,
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.Ki = 0.0f,
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.Kd = 0.02f,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = 6000.0f,
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.Ki = 900.0f,
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.Kd = 0.0f, // 0
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 10000,
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.MaxOut = 15000,
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},
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.other_angle_feedback_ptr = &gimba_IMU_data->Roll,
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// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
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.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[1],
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.current_feedforward_ptr = &gravity_current,
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},
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.controller_setting_init_config = {
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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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.feedforward_flag = CURRENT_FEEDFORWARD,
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.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE
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},
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.motor_type = GM6020,
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.motor_control_type = CURRENT_CONTROL
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};
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// 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
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yaw_motor = DJIMotorInit(&yaw_config);
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pitch_motor = DJIMotorInit(&pitch_config);
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gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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}
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/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
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void GimbalTask() {
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//红点激光
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//HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
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// 获取云台控制数据
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// 后续增加未收到数据的处理
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SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
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// @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
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// 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
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switch (gimbal_cmd_recv.gimbal_mode) {
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// 停止
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case GIMBAL_ZERO_FORCE:
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DJIMotorStop(yaw_motor);
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DJIMotorStop(pitch_motor);
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break;
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// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
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case GIMBAL_GYRO_MODE: // 后续只保留此模式
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DJIMotorEnable(yaw_motor);
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DJIMotorEnable(pitch_motor);
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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//LimitPitchAngleAuto();
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break;
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// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
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case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
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DJIMotorEnable(yaw_motor);
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DJIMotorEnable(pitch_motor);
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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break;
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default:
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break;
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}
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// 在合适的地方添加pitch重力补偿前馈力矩
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// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
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// ...
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float theta = - gimba_IMU_data->Roll/180*PI;
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gravity_current = (5000)*arm_cos_f32(theta);
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// float vofa_send_data[4];
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// vofa_send_data[0] = pitch_motor->motor_controller.speed_PID.Ref;
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// vofa_send_data[1] = pitch_motor->motor_controller.speed_PID.Measure;
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// vofa_send_data[2] = pitch_motor->motor_controller.angle_PID.Ref;
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// vofa_send_data[3] = pitch_motor->motor_controller.angle_PID.Measure;
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// vofa_justfloat_output(vofa_send_data, 16, &huart1);
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// float vofa_send_data[4];
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// vofa_send_data[0] = yaw_motor->motor_controller.speed_PID.Ref;
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// vofa_send_data[1] = yaw_motor->motor_controller.speed_PID.Measure;
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// vofa_send_data[2] = yaw_motor->motor_controller.angle_PID.Ref;
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// vofa_send_data[3] = yaw_motor->motor_controller.angle_PID.Measure;
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// vofa_justfloat_output(vofa_send_data, 16, &huart1);
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// 设置反馈数据,主要是imu和yaw的ecd
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gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
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gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
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// 推送消息
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PubPushMessage(gimbal_pub, (void *) &gimbal_feedback_data);
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} |