增加达妙驱动（未验证）
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@ -53,7 +53,7 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D
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modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
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modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd
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modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim
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modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor
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modules/motor/DJImotor modules/motor/DMmotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor
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application application/chassis application/cmd application/gimbal application/shoot
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Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)
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@ -85,4 +85,4 @@ add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
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COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
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COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
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COMMENT "Building ${HEX_FILE}
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Building ${BIN_FILE}")
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Building ${BIN_FILE}")
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@ -59,6 +59,7 @@ static Robot_Status_e robot_state; // 机器人整体工作状态
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static referee_info_t* referee_data; // 用于获取裁判系统的数据
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extern float horizontal_angle;
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//static int target_index = -1;
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static uint16_t base_HP;
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void RobotCMDInit()
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{
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@ -124,14 +125,15 @@ static void CalcOffsetAngle()
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// else
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// chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle;
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}
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//功能：死亡后清除小陀螺的状态
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static void death_check()
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{
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if(referee_data->GameRobotState.current_HP <= 0)
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{
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rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
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}
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}
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static void update_ui_data()
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{
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ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
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@ -220,11 +222,13 @@ static void RemoteControlSet()
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// 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?
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
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{
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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shoot_cmd_send.friction_mode = FRICTION_ON;
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// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台
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{
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
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}
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@ -265,7 +269,7 @@ static void RemoteControlSet()
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
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if (rc_data[TEMP].rc.dial < -500)
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shoot_cmd_send.load_mode = LOAD_STOP;
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
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@ -32,8 +32,8 @@
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#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)
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#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
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// 发射参数
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#define ONE_BULLET_DELTA_ANGLE 1383 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
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#define REDUCTION_RATIO_LOADER 19.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49
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#define ONE_BULLET_DELTA_ANGLE 1933.272 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
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#define REDUCTION_RATIO_LOADER 27.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49，增加为27
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#define NUM_PER_CIRCLE 5 // 拨盘一圈的装载量
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// 机器人底盘修改的参数,单位为mm(毫米)
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#define WHEEL_BASE 433.86 // 纵向轴距(前进后退方向)
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@ -16,6 +16,7 @@
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#include "buzzer.h"
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#include "bsp_log.h"
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#include "dm4310.h"
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osThreadId insTaskHandle;
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osThreadId robotTaskHandle;
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@ -52,6 +53,7 @@ void OSTaskInit()
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uiTaskHandle = osThreadCreate(osThread(uitask), NULL);
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HTMotorControlInit(); // 没有注册HT电机则不会执行
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DMMotorControlInit(); // 没有注册DM电机则不会执行
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}
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__attribute__((noreturn)) void StartINSTASK(void const *argument)
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@ -55,15 +55,15 @@ void ShootInit()
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.outer_loop_type = SPEED_LOOP,
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.close_loop_type = SPEED_LOOP ,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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},
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.motor_type = M3508};
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friction_config.can_init_config.tx_id = 3,
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friction_l = DJIMotorInit(&friction_config);
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// friction_config.can_init_config.tx_id = 3,
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// friction_l = DJIMotorInit(&friction_config);
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// friction_config.can_init_config.tx_id = 4; // 右摩擦轮,改txid和方向就行
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// friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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// friction_r = DJIMotorInit(&friction_config);
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friction_config.can_init_config.tx_id = 4; // 右摩擦轮,改txid和方向就行
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friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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friction_r = DJIMotorInit(&friction_config);
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friction_config.can_init_config.tx_id = 6; // 上摩擦轮,改txid和方向就行
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friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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@ -134,15 +134,15 @@ void ShootTask()
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// 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止)
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if (shoot_cmd_recv.shoot_mode == SHOOT_OFF)
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{
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DJIMotorStop(friction_l);
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// DJIMotorStop(friction_r);
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// DJIMotorStop(friction_l);
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DJIMotorStop(friction_r);
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DJIMotorStop(friction_z);
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DJIMotorStop(loader);
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}
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else // 恢复运行
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{
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DJIMotorEnable(friction_l);
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// DJIMotorEnable(friction_r);
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// DJIMotorEnable(friction_l);
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DJIMotorEnable(friction_r);
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DJIMotorEnable(friction_z);
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DJIMotorEnable(loader);
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}
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@ -156,13 +156,13 @@ void ShootTask()
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{
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// 停止拨盘
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case LOAD_STOP:
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DJIMotorOuterLoop(loader, SPEED_LOOP); // 切换到速度环
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DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快
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DJIMotorStop(loader);
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// DJIMotorOuterLoop(loader, SPEED_LOOP); // 切换到速度环
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// DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快
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break;
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// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
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case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
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DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
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stop_location = loader->measure.total_angle;
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DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环v
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DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = shoot_cmd_recv.shoot_rate; // 完成1发弹丸发射的时间
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@ -198,14 +198,14 @@ void ShootTask()
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// 确定是否开启摩擦轮,后续可能修改为键鼠模式下始终开启摩擦轮(上场时建议一直开启)
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if (shoot_cmd_recv.friction_mode == FRICTION_ON)
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{
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DJIMotorSetRef(friction_l, 48000);
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// DJIMotorSetRef(friction_r, 39000);
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DJIMotorSetRef(friction_z, 48000);//39000/6 = 6500
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// DJIMotorSetRef(friction_l, 39000);
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DJIMotorSetRef(friction_r, 39000);
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DJIMotorSetRef(friction_z, 39000);//39000/6 = 6500
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}
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else // 关闭摩擦轮
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{
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DJIMotorSetRef(friction_l, 0);
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// DJIMotorSetRef(friction_r, 0);
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// DJIMotorSetRef(friction_l, 0);
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DJIMotorSetRef(friction_r, 0);
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DJIMotorSetRef(friction_z, 0);
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}
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@ -0,0 +1,185 @@
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#include "dm4310.h"
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#include "memory.h"
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#include "general_def.h"
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#include "user_lib.h"
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#include "cmsis_os.h"
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#include "string.h"
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#include "daemon.h"
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#include "stdlib.h"
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#include "bsp_log.h"
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static uint8_t idx;
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static DMMotorInstance *dm_motor_instance[DM_MOTOR_CNT];
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static osThreadId dm_task_handle[DM_MOTOR_CNT];
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/* 两个用于将uint值和float值进行映射的函数,在设定发送值和解析反馈值时使用 */
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static uint16_t float_to_uint(float x, float x_min, float x_max, uint8_t bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return (uint16_t)((x - offset) * ((float)((1 << bits) - 1)) / span);
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}
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
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}
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static void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
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{
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memset(motor->motor_can_instance->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff
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motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
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CANTransmit(motor->motor_can_instance, 1);
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}
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static void DMMotorDecode(CANInstance *motor_can)
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{
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uint16_t tmp; // 用于暂存解析值,稍后转换成float数据,避免多次创建临时变量
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uint8_t *rxbuff = motor_can->rx_buff;
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DMMotorInstance *motor = (DMMotorInstance *)motor_can->id;
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DM_Motor_Measure_s *measure = &(motor->measure); // 将can实例中保存的id转换成电机实例的指针
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DaemonReload(motor->motor_daemon);
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measure->last_position = measure->position;
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tmp = (uint16_t)((rxbuff[1] << 8) | rxbuff[2]);
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measure->position = uint_to_float(tmp, DM_P_MIN, DM_P_MAX, 16);
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measure->angle_single_round = ECD_ANGLE_COEF_DM * (measure->position+3.141593);
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if(measure->angle_single_round > 360) measure->angle_single_round -= 360;
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if(measure->angle_single_round < 0) measure->angle_single_round += 360 ;
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tmp = (uint16_t)((rxbuff[3] << 4) | rxbuff[4] >> 4);
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measure->velocity = uint_to_float(tmp, DM_V_MIN, DM_V_MAX, 12);
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tmp = (uint16_t)(((rxbuff[4] & 0x0f) << 8) | rxbuff[5]);
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measure->torque = uint_to_float(tmp, DM_T_MIN, DM_T_MAX, 12);
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measure->T_Mos = (float)rxbuff[6];
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measure->T_Rotor = (float)rxbuff[7];
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}
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static void DMMotorLostCallback(void *motor_ptr)
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{
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DMMotorInstance *motor = (DMMotorInstance *)motor_ptr;
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uint16_t can_bus = motor->motor_can_instance->can_handle == &hcan1 ? 1 : 2;
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LOGWARNING("[dm_motor] Motor lost, can bus [%d] , id [%d]", can_bus, motor->motor_can_instance->tx_id);
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}
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void DMMotorCaliEncoder(DMMotorInstance *motor)
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{
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DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
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DWT_Delay(0.1);
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}
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DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
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{
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DMMotorInstance *motor = (DMMotorInstance *)malloc(sizeof(DMMotorInstance));
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memset(motor, 0, sizeof(DMMotorInstance));
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motor->motor_settings = config->controller_setting_init_config;
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PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
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PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
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PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
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motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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config->can_init_config.can_module_callback = DMMotorDecode;
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config->can_init_config.id = motor;
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motor->motor_can_instance = CANRegister(&config->can_init_config);
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Daemon_Init_Config_s conf = {
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.callback = DMMotorLostCallback,
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.owner_id = motor,
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.reload_count = 10,
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};
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motor->motor_daemon = DaemonRegister(&conf);
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DMMotorEnable(motor);
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DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);
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DWT_Delay(0.1f);
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dm_motor_instance[idx++] = motor;
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return motor;
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}
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void DMMotorSetRef(DMMotorInstance *motor, float ref)
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{
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motor->pid_ref = ref;
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}
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void DMMotorEnable(DMMotorInstance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void DMMotorStop(DMMotorInstance *motor)//不使用使能模式是因为需要收到反馈
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void DMMotorOuterLoop(DMMotorInstance *motor, Closeloop_Type_e type)
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{
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motor->motor_settings.outer_loop_type = type;
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}
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//位置控制
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void DMMotorTask(void const *argument)
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{
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float pid_ref, set;
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DMMotorInstance *motor = (DMMotorInstance *)argument;
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//DM_Motor_Measure_s *measure = &motor->measure;
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Motor_Control_Setting_s *setting = &motor->motor_settings;
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//CANInstance *motor_can = motor->motor_can_instance;
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//uint16_t tmp;
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DMMotor_Send_s motor_send_mailbox;
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while (1)
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{
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pid_ref = motor->pid_ref;
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set = pid_ref;
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if (setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
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set *= -1;
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LIMIT_MIN_MAX(set, DM_T_MIN, DM_T_MAX);
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motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
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motor_send_mailbox.velocity_des = float_to_uint(set, DM_V_MIN, DM_V_MAX, 12);
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motor_send_mailbox.torque_des = float_to_uint(0, DM_T_MIN, DM_T_MAX, 12);
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motor_send_mailbox.Kp = motor->angle_PID.Kp;
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motor_send_mailbox.Kd = motor->angle_PID.Kd;
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if(motor->stop_flag == MOTOR_STOP)
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{
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motor_send_mailbox.position_des = float_to_uint(0, DM_P_MIN, DM_P_MAX, 16);
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motor_send_mailbox.velocity_des = float_to_uint(0, DM_V_MIN, DM_V_MAX, 12);
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motor_send_mailbox.torque_des = float_to_uint(0, DM_T_MIN, DM_T_MAX, 12);
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}
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motor->motor_can_instance->tx_buff[0] = (uint8_t)(motor_send_mailbox.position_des >> 8);
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motor->motor_can_instance->tx_buff[1] = (uint8_t)(motor_send_mailbox.position_des);
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motor->motor_can_instance->tx_buff[2] = (uint8_t)(motor_send_mailbox.velocity_des >> 4);
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motor->motor_can_instance->tx_buff[3] = (uint8_t)(((motor_send_mailbox.velocity_des & 0xF) << 4) | (motor_send_mailbox.Kp >> 8));
|
||||
motor->motor_can_instance->tx_buff[4] = (uint8_t)(motor_send_mailbox.Kp);
|
||||
motor->motor_can_instance->tx_buff[5] = (uint8_t)(motor_send_mailbox.Kd >> 4);
|
||||
motor->motor_can_instance->tx_buff[6] = (uint8_t)(((motor_send_mailbox.Kd & 0xF) << 4) | (motor_send_mailbox.torque_des >> 8));
|
||||
motor->motor_can_instance->tx_buff[7] = (uint8_t)(motor_send_mailbox.torque_des);
|
||||
|
||||
CANTransmit(motor->motor_can_instance, 1);
|
||||
|
||||
osDelay(2);
|
||||
}
|
||||
}
|
||||
void DMMotorControlInit()
|
||||
{
|
||||
char dm_task_name[5] = "dm";
|
||||
// 遍历所有电机实例,创建任务
|
||||
if (!idx)
|
||||
return;
|
||||
for (size_t i = 0; i < idx; i++)
|
||||
{
|
||||
char dm_id_buff[2] = {0};
|
||||
__itoa(i, dm_id_buff, 10);
|
||||
strcat(dm_task_name, dm_id_buff);
|
||||
osThreadDef(dm_task_name, DMMotorTask, osPriorityNormal, 0, 128);
|
||||
dm_task_handle[i] = osThreadCreate(osThread(dm_task_name), dm_motor_instance[i]);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
#ifndef DM4310_H
|
||||
#define DM4310_H
|
||||
#include <stdint.h>
|
||||
#include "bsp_can.h"
|
||||
#include "controller.h"
|
||||
#include "motor_def.h"
|
||||
#include "daemon.h"
|
||||
|
||||
#define DM_MOTOR_CNT 1
|
||||
|
||||
#define DM_P_MIN (-12.5f)
|
||||
#define DM_P_MAX 12.5f
|
||||
#define DM_V_MIN (-45.0f)
|
||||
#define DM_V_MAX 45.0f
|
||||
#define DM_T_MIN (-18.0f)
|
||||
#define DM_T_MAX 18.0f
|
||||
#define ECD_ANGLE_COEF_DM 57.324840f // (360/2PI),将编码器值转化为角度制
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t id;
|
||||
uint8_t state;
|
||||
float velocity;
|
||||
float last_position;
|
||||
float position;
|
||||
float torque;
|
||||
float T_Mos;
|
||||
float T_Rotor;
|
||||
float angle_single_round;
|
||||
int32_t total_round;
|
||||
}DM_Motor_Measure_s;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint16_t position_des;
|
||||
uint16_t velocity_des;
|
||||
uint16_t torque_des;
|
||||
uint16_t Kp;
|
||||
uint16_t Kd;
|
||||
}DMMotor_Send_s;
|
||||
typedef struct
|
||||
{
|
||||
DM_Motor_Measure_s measure;
|
||||
Motor_Control_Setting_s motor_settings;
|
||||
PIDInstance current_PID;
|
||||
PIDInstance speed_PID;
|
||||
PIDInstance angle_PID;
|
||||
float *other_angle_feedback_ptr;
|
||||
float *other_speed_feedback_ptr;
|
||||
float *speed_feedforward_ptr;
|
||||
float *current_feedforward_ptr;
|
||||
float pid_ref;
|
||||
Motor_Working_Type_e stop_flag;
|
||||
CANInstance *motor_can_instance;
|
||||
DaemonInstance* motor_daemon;
|
||||
uint32_t lost_cnt;
|
||||
}DMMotorInstance;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
DM_CMD_MOTOR_MODE = 0xfc, // 使能,会响应指令
|
||||
DM_CMD_RESET_MODE = 0xfd, // 停止
|
||||
DM_CMD_ZERO_POSITION = 0xfe, // 将当前的位置设置为编码器零位
|
||||
DM_CMD_CLEAR_ERROR = 0xfb // 清除电机过热错误
|
||||
}DMMotor_Mode_e;
|
||||
|
||||
DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config);
|
||||
|
||||
void DMMotorSetRef(DMMotorInstance *motor, float ref);
|
||||
|
||||
void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
|
||||
|
||||
void DMMotorEnable(DMMotorInstance *motor);
|
||||
|
||||
void DMMotorStop(DMMotorInstance *motor);
|
||||
void DMMotorCaliEncoder(DMMotorInstance *motor);
|
||||
void DMMotorControlInit();
|
||||
#endif // !DMMOTOR
|
||||
|
|
@ -13,7 +13,7 @@ void MotorControlTask()
|
|||
DJIMotorControl();
|
||||
|
||||
/* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */
|
||||
LKMotorControl();
|
||||
// LKMotorControl();
|
||||
|
||||
// legacy support
|
||||
// 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞
|
||||
|
|
@ -21,7 +21,7 @@ void MotorControlTask()
|
|||
// HTMotorControl();
|
||||
// 将所有的CAN设备集中在一处发送,最高反馈频率仅能达到500Hz,为了更好的控制效果,应使用新的HTMotorControlInit()接口
|
||||
|
||||
ServeoMotorControl();
|
||||
// ServeoMotorControl();
|
||||
|
||||
// StepMotorControl();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue