From 0bf1ba7f3e4a49723d891b791e2b9d4b46c3bf42 Mon Sep 17 00:00:00 2001 From: Zhou Chujie Date: Sun, 19 Nov 2023 18:19:37 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BA=95=E7=9B=98=E4=BB=A3=E7=A0=81=E9=80=BB?= =?UTF-8?q?=E8=BE=91=E8=B0=83=E6=95=B4=E5=AE=8C=E6=88=90=EF=BC=8C=E6=9C=AA?= =?UTF-8?q?=E8=B0=83=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../runConfigurations/OCD_basic_framework.xml | 2 +- .../FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c | 2 +- application/chassis/chassis.c | 22 +++++++++---------- application/cmd/robot_cmd.c | 2 +- application/robot_def.h | 8 +++---- modules/motor/DJImotor/dji_motor.c | 6 ++--- 6 files changed, 21 insertions(+), 21 deletions(-) diff --git a/.idea/runConfigurations/OCD_basic_framework.xml b/.idea/runConfigurations/OCD_basic_framework.xml index f3bd5bc..0f942e7 100644 --- a/.idea/runConfigurations/OCD_basic_framework.xml +++ b/.idea/runConfigurations/OCD_basic_framework.xml @@ -1,6 +1,6 @@ - + diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c index 89c3633..197b1f6 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c +++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c @@ -26,7 +26,7 @@ * *---------------------------------------------------------------------------- * - * Portions Copyright 2016 STMicroelectronics International N.V. All rights reserved. + * Portions Copyright � 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 diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 61b43d8..417b2da 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -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; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 6a989ce..667923e 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -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 diff --git a/application/robot_def.h b/application/robot_def.h index 3457352..26b057e 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -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 diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index e9345cc..f01faef 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -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;