底盘代码逻辑调整完成，未调参数
This commit is contained in:
parent
29c6b56489
commit
0bf1ba7f3e
|
|
@ -1,6 +1,6 @@
|
|||
<component name="ProjectRunConfigurationManager">
|
||||
<configuration default="false" name="OCD basic_framework" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="basic_framework" TARGET_NAME="basic_framework.elf" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="basic_framework" RUN_TARGET_NAME="basic_framework.elf">
|
||||
<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="C:\Users\24871\Desktop\RM\RM2024\basic\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
|
||||
<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="C:\Users\24871\Desktop\RM\RM2024\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
|
||||
<debugger kind="GDB" isBundled="true" />
|
||||
</openocd>
|
||||
<method v="2">
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
*
|
||||
*----------------------------------------------------------------------------
|
||||
*
|
||||
* Portions Copyright © 2016 STMicroelectronics International N.V. All rights reserved.
|
||||
* Portions Copyright <EFBFBD> 2016 STMicroelectronics International N.V. All rights reserved.
|
||||
* Portions Copyright (c) 2013 ARM LIMITED
|
||||
* All rights reserved.
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
|
|
|
|||
|
|
@ -87,11 +87,11 @@ void ChassisInit()
|
|||
.motor_type = M3508,
|
||||
};
|
||||
// @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.
|
||||
chassis_motor_config.can_init_config.tx_id = 1;
|
||||
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
|
||||
chassis_motor_config.can_init_config.tx_id = 2;
|
||||
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
|
||||
motor_lf = DJIMotorInit(&chassis_motor_config);
|
||||
|
||||
chassis_motor_config.can_init_config.tx_id = 2;
|
||||
chassis_motor_config.can_init_config.tx_id = 1;
|
||||
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
|
||||
motor_rf = DJIMotorInit(&chassis_motor_config);
|
||||
|
||||
|
|
@ -100,7 +100,7 @@ void ChassisInit()
|
|||
motor_lb = DJIMotorInit(&chassis_motor_config);
|
||||
|
||||
chassis_motor_config.can_init_config.tx_id = 3;
|
||||
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
|
||||
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
|
||||
motor_rb = DJIMotorInit(&chassis_motor_config);
|
||||
|
||||
referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
|
||||
|
|
@ -134,7 +134,7 @@ void ChassisInit()
|
|||
chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
|
||||
#endif // ONE_BOARD
|
||||
}
|
||||
|
||||
//225+0+215-0
|
||||
#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
|
||||
#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
|
||||
#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
|
||||
|
|
@ -145,10 +145,10 @@ void ChassisInit()
|
|||
*/
|
||||
static void MecanumCalculate()
|
||||
{
|
||||
vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
|
||||
vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
|
||||
vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
|
||||
vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
|
||||
vt_lf = chassis_vx + chassis_vy - chassis_cmd_recv.wz * (LF_CENTER-1);
|
||||
vt_rf = -chassis_vx + chassis_vy + chassis_cmd_recv.wz * (RF_CENTER-1);
|
||||
vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * (-LB_CENTER-1);
|
||||
vt_rb = -chassis_vx - chassis_vy + chassis_cmd_recv.wz * (-RB_CENTER-1);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -214,10 +214,10 @@ void ChassisTask()
|
|||
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 = -1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
|
||||
chassis_cmd_recv.wz = 1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
|
||||
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
|
||||
chassis_cmd_recv.wz = 4000;
|
||||
chassis_cmd_recv.wz = 400;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -112,7 +112,7 @@ static void RemoteControlSet()
|
|||
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
|
||||
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
|
||||
{
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
||||
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||||
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
||||
}
|
||||
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@
|
|||
|
||||
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
|
||||
// 云台参数
|
||||
#define YAW_CHASSIS_ALIGN_ECD 2711 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
|
||||
#define YAW_CHASSIS_ALIGN_ECD 5009 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
|
||||
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
|
||||
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
|
||||
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
|
||||
|
|
@ -36,11 +36,11 @@
|
|||
#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
|
||||
#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量
|
||||
// 机器人底盘修改的参数,单位为mm(毫米)
|
||||
#define WHEEL_BASE 350 // 纵向轴距(前进后退方向)
|
||||
#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
|
||||
#define WHEEL_BASE 420 // 纵向轴距(前进后退方向)
|
||||
#define TRACK_WIDTH 450 // 横向轮距(左右平移方向)
|
||||
#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
|
||||
#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
|
||||
#define RADIUS_WHEEL 60 // 轮子半径
|
||||
#define RADIUS_WHEEL 75 // 轮子半径
|
||||
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
|
||||
|
||||
#define GYRO2GIMBAL_DIR_YAW 1 // 陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
|
||||
|
|
|
|||
|
|
@ -265,12 +265,12 @@ void DJIMotorControl()
|
|||
}
|
||||
|
||||
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
|
||||
|
||||
|
||||
if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP)))
|
||||
{
|
||||
if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD)
|
||||
pid_ref += *motor_controller->speed_feedforward_ptr;
|
||||
|
||||
if (motor_setting->speed_feedback_source == OTHER_FEED)
|
||||
pid_ref += *motor_controller->speed_feedforward_ptr; if (motor_setting->speed_feedback_source == OTHER_FEED)
|
||||
pid_measure = *motor_controller->other_speed_feedback_ptr;
|
||||
else // MOTOR_FEED
|
||||
pid_measure = measure->speed_aps;
|
||||
|
|
|
|||
Loading…
Reference in New Issue