381 lines
16 KiB
C
381 lines
16 KiB
C
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/**
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* @file chassis.c
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* @author NeoZeng neozng1@hnu.edu.cn
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* @brief 底盘应用,负责接收robot_cmd的控制命令并根据命令进行运动学解算,得到输出
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* 注意底盘采取右手系,对于平面视图,底盘纵向运动的正前方为x正方向;横向运动的右侧为y正方向
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*
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* @version 0.1
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* @date 2022-12-04
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "chassis.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "super_cap.h"
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#include "message_center.h"
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#include "referee_task.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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#include "referee_UI.h"
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#include "arm_math.h"
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#include "user_lib.h"
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#include "vofa.h"
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/* 根据robot_def.h中的macro自动计算的参数 */
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#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f) // 半轴距
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#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f) // 半轮距
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#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长
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#define P_MAX 50.0f//功率控制 单位：W
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/* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
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#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
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#include "can_comm.h"
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#include "ins_task.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
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attitude_t *Chassis_IMU_data;
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD
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static Publisher_t *chassis_pub; // 用于发布底盘的数据
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static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令
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#endif // !ONE_BOARD
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
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static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
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const static float CHASSIS_ACCEL_X_NUM=0.1f;
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const static float CHASSIS_ACCEL_Y_NUM=0.1f;
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// 超级电容
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SuperCapInstance *cap; // 超级电容全局
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static uint16_t last_chassis_power_limit=0;//超级电容更新
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static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
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/* 用于自旋变速策略的时间变量 */
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// static float t;
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/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
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static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘
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static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
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first_order_filter_type_t vx_filter;
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first_order_filter_type_t vy_filter;
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void ChassisInit() {
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// 四个轮子的参数一样,改tx_id和反转标志位即可
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Motor_Init_Config_s chassis_motor_config = {
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.can_init_config.can_handle = &hcan1,
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.controller_param_init_config = {
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.speed_PID = {
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.Kp = 0.0f,
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.Ki = 0.0f,
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.Kd = 0.0f,
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.IntegralLimit = 3000,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.MaxOut = 30000,
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},
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.current_PID = {
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.Kp = 0.0f,
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.Ki = 0.0f,
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.Kd = 0.0f,
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.IntegralLimit = 3000,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.MaxOut = 15000,
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},
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},
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = SPEED_LOOP,
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.close_loop_type = SPEED_LOOP, // CURRENT_LOOP,
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.power_limit_flag = POWER_LIMIT_ON,
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},
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.motor_type = M3508,
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};
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// @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
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// 四个轮子pid分开
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//右前
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chassis_motor_config.can_init_config.tx_id = 1;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
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chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
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chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
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motor_rf = DJIMotorInit(&chassis_motor_config);
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//左前
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chassis_motor_config.can_init_config.tx_id = 2;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
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chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
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chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
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motor_lf = DJIMotorInit(&chassis_motor_config);
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//左后
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chassis_motor_config.can_init_config.tx_id = 3;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f;
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chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
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chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
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motor_lb = DJIMotorInit(&chassis_motor_config);
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//右后
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chassis_motor_config.can_init_config.tx_id = 4;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f;
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chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
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chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
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motor_rb = DJIMotorInit(&chassis_motor_config);
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//超级电容
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x210,
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.rx_id = 0x211,
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},
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.buffer_config_pid = {
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.Kp = 1.0f,
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.Ki = 0,
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.Kd = 0,
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.MaxOut = 300,
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},
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};
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cap = SuperCapInit(&cap_conf); // 超级电容初始化
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//用一阶滤波代替斜波函数生成 //增大更能刹住
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first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM);
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first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM);
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// 发布订阅初始化,如果为双板,则需要can comm来传递消息
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#ifdef CHASSIS_BOARD
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Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x311,
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.rx_id = 0x312,
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},
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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.send_data_len = sizeof(Chassis_Upload_Data_s),
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};
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chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD // 单板控制整车,则通过pubsub来传递消息
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chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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}
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#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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/**
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* @brief 计算每个轮毂电机的输出,正运动学解算
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* 用宏进行预替换减小开销,运动解算具体过程参考教程
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*/
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//全向轮解算
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static void OmniCalculate() {
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vt_rf = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz + chassis_vx - chassis_vy;
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vt_rb = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz - chassis_vx - chassis_vy;
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vt_lb = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz - chassis_vx + chassis_vy;
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vt_lf = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz + chassis_vx + chassis_vy;
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vt_rf /= (WHEEL_BASE * 1.414f);
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vt_rb /= (WHEEL_BASE * 1.414f);
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vt_lb /= (WHEEL_BASE * 1.414f);
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vt_lf /= (WHEEL_BASE * 1.414f);
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}
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static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};
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float input;
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float P_max = 0;
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///依据3508电机功率模型，预测电机输出功率
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static float EstimatePower(DJIMotorInstance* chassis_motor)
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{
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float I_cmd = chassis_motor->motor_controller.current_PID.Output;
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float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm
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float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w + motor_power_K[2]*I_cmd*I_cmd;
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return power;
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}
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/**
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* @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值
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*
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*/
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static void LimitChassisOutput()
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{
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// float Plimit = 1.0f;
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float P_cmd = motor_rf->motor_controller.motor_power_predict +
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motor_rb->motor_controller.motor_power_predict +
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motor_lb->motor_controller.motor_power_predict +
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motor_lf->motor_controller.motor_power_predict + 3.6f;
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// if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40) Plimit=0.9f;
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// else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35) Plimit=0.75f;
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// else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30) Plimit=0.5f;
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// else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20) Plimit=0.25f;
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// else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10) Plimit=0.125f;
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// else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f;
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// else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f;
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if (cap->cap_msg.cap_vol>1800)
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{
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P_max = input + chassis_cmd_recv.buffer_supercap ;
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}
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else
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{
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P_max = input;
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}
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float K = P_max / P_cmd;
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// if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时，限制功率给小；
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// K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd;
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motor_rf->motor_controller.motor_power_scale = K;
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motor_rb->motor_controller.motor_power_scale = K;
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motor_lf->motor_controller.motor_power_scale = K;
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motor_lb->motor_controller.motor_power_scale = K;
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{
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DJIMotorSetRef(motor_lf, vt_lf);
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DJIMotorSetRef(motor_rf, vt_rf);
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DJIMotorSetRef(motor_lb, vt_lb);
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DJIMotorSetRef(motor_rb, vt_rb);
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}
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}
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/**
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* @brief 超电功率对缓冲功率进行闭环
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*
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*
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*/
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static void SuperCapSetUpdate()
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{
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PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,30);//对缓冲功率进行闭环
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input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output;
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LIMIT_MIN_MAX(input, 30, 130);
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SuperCapSetPower(cap,input);
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}
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/**
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* @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
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* 对于双板的情况,考虑增加来自底盘板IMU的数据
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*
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*/
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static void EstimateSpeed() {
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// 根据电机速度和陀螺仪的角速度进行解算,还可以利用加速度计判断是否打滑(如果有)
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|
// chassis_feedback_data.vx vy wz =
|
|||
|
|
// ...
|
|||
|
|
}
|
|||
|
|
static chassis_mode_e last_chassis_mode;
|
|||
|
|
static float rotate_speed = 80000;
|
|||
|
|
/* 机器人底盘控制核心任务 */
|
|||
|
|
void ChassisTask() {
|
|||
|
|
// 后续增加没收到消息的处理(双板的情况)
|
|||
|
|
// 获取新的控制信息
|
|||
|
|
#ifdef ONE_BOARD
|
|||
|
|
SubGetMessage(chassis_sub, &chassis_cmd_recv);
|
|||
|
|
#endif
|
|||
|
|
#ifdef CHASSIS_BOARD
|
|||
|
|
chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
|
|||
|
|
#endif // CHASSIS_BOARD
|
|||
|
|
|
|||
|
|
if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
|
|||
|
|
DJIMotorStop(motor_lf);
|
|||
|
|
DJIMotorStop(motor_rf);
|
|||
|
|
DJIMotorStop(motor_lb);
|
|||
|
|
DJIMotorStop(motor_rb);
|
|||
|
|
} else { // 正常工作
|
|||
|
|
DJIMotorEnable(motor_lf);
|
|||
|
|
DJIMotorEnable(motor_rf);
|
|||
|
|
DJIMotorEnable(motor_lb);
|
|||
|
|
DJIMotorEnable(motor_rb);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 根据控制模式设定旋转速度
|
|||
|
|
switch (chassis_cmd_recv.chassis_mode) {
|
|||
|
|
case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
|
|||
|
|
chassis_cmd_recv.wz = 0;
|
|||
|
|
break;
|
|||
|
|
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
|
|||
|
|
chassis_cmd_recv.wz = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
|
|||
|
|
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
|
|||
|
|
break;
|
|||
|
|
case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出
|
|||
|
|
chassis_cmd_recv.wz = 40.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
|
|||
|
|
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
|
|||
|
|
break;
|
|||
|
|
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
|
|||
|
|
if(last_chassis_mode != CHASSIS_ROTATE){
|
|||
|
|
rotate_speed = -rotate_speed;
|
|||
|
|
}
|
|||
|
|
chassis_cmd_recv.wz = rotate_speed;
|
|||
|
|
break;
|
|||
|
|
default:
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
last_chassis_mode = chassis_cmd_recv.chassis_mode;
|
|||
|
|
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
|
|||
|
|
// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
|
|||
|
|
static float sin_theta, cos_theta;
|
|||
|
|
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
|
|||
|
|
sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
|
|||
|
|
|
|||
|
|
//一阶低通滤波计算
|
|||
|
|
first_order_filter_cali(&vx_filter, chassis_cmd_recv.vx);
|
|||
|
|
first_order_filter_cali(&vy_filter, chassis_cmd_recv.vy);
|
|||
|
|
|
|||
|
|
chassis_cmd_recv.vx = vx_filter.out;
|
|||
|
|
chassis_cmd_recv.vy = vy_filter.out;
|
|||
|
|
|
|||
|
|
chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
|
|||
|
|
chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
|
|||
|
|
|
|||
|
|
// chassis_vx = (1.0f - 0.30f) * chassis_vx + 0.30f * (chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta);
|
|||
|
|
// chassis_vy = (1.0f - 0.30f) * chassis_vy + 0.30f * (chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta);
|
|||
|
|
|
|||
|
|
|
|||
|
|
// 根据控制模式进行正运动学解算,计算底盘输出
|
|||
|
|
//MecanumCalculate();
|
|||
|
|
OmniCalculate();
|
|||
|
|
////对缓冲功率进行闭环
|
|||
|
|
SuperCapSetUpdate();
|
|||
|
|
// 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
|
|||
|
|
LimitChassisOutput();
|
|||
|
|
|
|||
|
|
// float vofa_send_data[2];
|
|||
|
|
// vofa_send_data[0] = motor_lb->motor_controller.speed_PID.Ref;
|
|||
|
|
// vofa_send_data[1] = motor_lb->motor_controller.speed_PID.Measure;
|
|||
|
|
// vofa_justfloat_output(vofa_send_data, 8, &huart1);
|
|||
|
|
|
|||
|
|
// 根据电机的反馈速度和IMU(如果有)计算真实速度
|
|||
|
|
EstimateSpeed();
|
|||
|
|
|
|||
|
|
//todo: 裁判系统信息移植到消息中心发送
|
|||
|
|
// 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
|
|||
|
|
// 发送敌方方颜色id
|
|||
|
|
//chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
|
|||
|
|
// 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
|
|||
|
|
//chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
|
|||
|
|
|
|||
|
|
chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol;
|
|||
|
|
|
|||
|
|
// 推送反馈消息
|
|||
|
|
#ifdef ONE_BOARD
|
|||
|
|
PubPushMessage(chassis_pub, (void *) &chassis_feedback_data);
|
|||
|
|
#endif
|
|||
|
|
#ifdef CHASSIS_BOARD
|
|||
|
|
CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);
|
|||
|
|
#endif // CHASSIS_BOARD
|
|||
|
|
}
|