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yaw,pitch基本完成

This commit is contained in:
shmily744 2024-01-17 17:46:36 +08:00
parent 07331f23e3
commit 18988c5770
7 changed files with 203 additions and 197 deletions
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16
application/chassis/chassis.c
View File

@ -63,9 +63,9 @@ void ChassisInit() {
.can_init_config.can_handle = &hcan1, .can_init_config.can_handle = &hcan1,
.controller_param_init_config = { .controller_param_init_config = {
.speed_PID = { .speed_PID = {
.Kp = 1.0, // 4.5 .Kp = 4.0f, // 4.5
.Ki = 0, // 1.5 .Ki = 8.0f, // 1.5
.Kd = 0, // 0 .Kd = 0.0015, // 0
.IntegralLimit = 3000, .IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 12000, .MaxOut = 12000,
@ -221,7 +221,7 @@ void ChassisTask() {
chassis_cmd_recv.wz = 0; chassis_cmd_recv.wz = 0;
break; 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 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 = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
break; 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 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 = 4000;
@ -233,10 +233,10 @@ void ChassisTask() {
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上 // 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) // 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; static float sin_theta, cos_theta;
// cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); 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); sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
sin_theta = 0; // sin_theta = 0;
cos_theta = 1; // cos_theta = 1;
chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; 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_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;

154
application/cmd/robot_cmd.c
View File

@ -47,8 +47,7 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Robot_Status_e robot_state; // 机器人整体工作状态 static Robot_Status_e robot_state; // 机器人整体工作状态
void RobotCMDInit() void RobotCMDInit() {
{
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
vision_recv_data = VisionInit(&huart1); // 视觉通信串口 vision_recv_data = VisionInit(&huart1); // 视觉通信串口
@ -83,8 +82,7 @@ void RobotCMDInit()
* 单圈绝对角度的范围是0~360,说明文档中有图示 * 单圈绝对角度的范围是0~360,说明文档中有图示
* *
*/ */
static void CalcOffsetAngle() static void CalcOffsetAngle() {
{
// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数 // 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
static float angle; static float angle;
angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度 angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
@ -109,15 +107,13 @@ static void CalcOffsetAngle()
* @brief 控制输入为遥控器(调试时)的模式和控制量设置 * @brief 控制输入为遥控器(调试时)的模式和控制量设置
* *
*/ */
static void RemoteControlSet() 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? // 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 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; 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
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
{ {
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
@ -130,22 +126,24 @@ static void RemoteControlSet()
// ... // ...
} }
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.switch_left) )//|| vision_recv_data->target_state == NO_TARGET if (switch_is_down(rc_data[TEMP].rc.switch_left))//|| vision_recv_data->target_state == NO_TARGET
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整 { // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
} }
// 云台软件限位 // 云台软件限位
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
chassis_cmd_send.vx = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 chassis_cmd_send.vx = 8.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 8.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 chassis_cmd_send.vy = 8.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
// 发射参数 // 发射参数
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开 if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
; // 弹舱舵机控制,待添加servo_motor模块,开启 ; // 弹舱舵机控制,待添加servo_motor模块,开启
else else; // 弹舱舵机控制,待添加servo_motor模块,关闭
; // 弹舱舵机控制,待添加servo_motor模块,关闭
// 摩擦轮控制,拨轮向上打为负,向下为正 // 摩擦轮控制,拨轮向上打为负,向下为正
if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮 if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
@ -165,83 +163,82 @@ static void RemoteControlSet()
* @brief 输入为键鼠时模式和控制量设置 * @brief 输入为键鼠时模式和控制量设置
* *
*/ */
static void MouseKeySet() static void MouseKeySet() {
{
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测 chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300; chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测 gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10; gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 10;
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
{ {
case 0: case 0:
shoot_cmd_send.bullet_speed = 15; shoot_cmd_send.bullet_speed = 15;
break; break;
case 1: case 1:
shoot_cmd_send.bullet_speed = 18; shoot_cmd_send.bullet_speed = 18;
break; break;
default: default:
shoot_cmd_send.bullet_speed = 30; shoot_cmd_send.bullet_speed = 30;
break; break;
} }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
{ {
case 0: case 0:
shoot_cmd_send.load_mode = LOAD_STOP; shoot_cmd_send.load_mode = LOAD_STOP;
break; break;
case 1: case 1:
shoot_cmd_send.load_mode = LOAD_1_BULLET; shoot_cmd_send.load_mode = LOAD_1_BULLET;
break; break;
case 2: case 2:
shoot_cmd_send.load_mode = LOAD_3_BULLET; shoot_cmd_send.load_mode = LOAD_3_BULLET;
break; break;
default: default:
shoot_cmd_send.load_mode = LOAD_BURSTFIRE; shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
break; break;
} }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
{ {
case 0: case 0:
shoot_cmd_send.lid_mode = LID_OPEN; shoot_cmd_send.lid_mode = LID_OPEN;
break; break;
default: default:
shoot_cmd_send.lid_mode = LID_CLOSE; shoot_cmd_send.lid_mode = LID_CLOSE;
break; break;
} }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{ {
case 0: case 0:
shoot_cmd_send.friction_mode = FRICTION_OFF; shoot_cmd_send.friction_mode = FRICTION_OFF;
break; break;
default: default:
shoot_cmd_send.friction_mode = FRICTION_ON; shoot_cmd_send.friction_mode = FRICTION_ON;
break; break;
} }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
{ {
case 0: case 0:
chassis_cmd_send.chassis_speed_buff = 40; chassis_cmd_send.chassis_speed_buff = 40;
break; break;
case 1: case 1:
chassis_cmd_send.chassis_speed_buff = 60; chassis_cmd_send.chassis_speed_buff = 60;
break; break;
case 2: case 2:
chassis_cmd_send.chassis_speed_buff = 80; chassis_cmd_send.chassis_speed_buff = 80;
break; break;
default: default:
chassis_cmd_send.chassis_speed_buff = 100; chassis_cmd_send.chassis_speed_buff = 100;
break; break;
} }
switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量 switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
{ {
case 1: case 1:
break; break;
default: default:
break; break;
} }
} }
@ -252,8 +249,7 @@ static void MouseKeySet()
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现 * @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
* *
*/ */
static void EmergencyHandler() static void EmergencyHandler() {
{
// 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正 // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断 if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
{ {
@ -266,8 +262,7 @@ static void EmergencyHandler()
LOGERROR("[CMD] emergency stop!"); LOGERROR("[CMD] emergency stop!");
} }
// 遥控器右侧开关为[上],恢复正常运行 // 遥控器右侧开关为[上],恢复正常运行
if (switch_is_up(rc_data[TEMP].rc.switch_right)) if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
{
robot_state = ROBOT_READY; robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON; shoot_cmd_send.shoot_mode = SHOOT_ON;
LOGINFO("[CMD] reinstate, robot ready"); LOGINFO("[CMD] reinstate, robot ready");
@ -275,11 +270,10 @@ static void EmergencyHandler()
} }
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
void RobotCMDTask() void RobotCMDTask() {
{
// 从其他应用获取回传数据 // 从其他应用获取回传数据
#ifdef ONE_BOARD #ifdef ONE_BOARD
SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data); SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
#endif // ONE_BOARD #endif // ONE_BOARD
#ifdef GIMBAL_BOARD #ifdef GIMBAL_BOARD
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm); chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
@ -303,12 +297,12 @@ void RobotCMDTask()
// 推送消息,双板通信,视觉通信等 // 推送消息,双板通信,视觉通信等
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
#ifdef ONE_BOARD #ifdef ONE_BOARD
PubPushMessage(chassis_cmd_pub, (void *)&chassis_cmd_send); PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
#endif // ONE_BOARD #endif // ONE_BOARD
#ifdef GIMBAL_BOARD #ifdef GIMBAL_BOARD
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send); CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
#endif // GIMBAL_BOARD #endif // GIMBAL_BOARD
PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send); PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
VisionSend(&vision_send_data); VisionSend(&vision_send_data);
} }

212
application/gimbal/gimbal.c
View File

@ -14,82 +14,83 @@ static Publisher_t *gimbal_pub; // 云台应用消息发布者
static Subscriber_t *gimbal_sub; // cmd控制消息订阅者 static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息 static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
#include "vofa.h"
void GimbalInit()
{ void GimbalInit() {
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 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
// YAW // YAW
Motor_Init_Config_s yaw_config = { Motor_Init_Config_s yaw_config = {
.can_init_config = { .can_init_config = {
.can_handle = &hcan1, .can_handle = &hcan1,
.tx_id = 1, .tx_id = 1,
}, },
.controller_param_init_config = { .controller_param_init_config = {
.angle_PID = { .angle_PID = {
.Kp = 8, // 8 .Kp = 0.5, // 8
.Ki = 0, .Ki = 0,
.Kd = 0, .Kd = 0,
.DeadBand = 0.1, .DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100, .IntegralLimit = 100,
.MaxOut = 500, .MaxOut = 500,
}, },
.speed_PID = { .speed_PID = {
.Kp = 50, // 50 .Kp = 12000, // 50
.Ki = 200, // 200 .Ki = 3000, // 200
.Kd = 0, .Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 3000, .IntegralLimit = 3000,
.MaxOut = 20000, .MaxOut = 20000,
}, },
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle, .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 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 // 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
.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2], .other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2],
}, },
.controller_setting_init_config = { .controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED, .angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED, .speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP, .outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP, .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
}, },
.motor_type = GM6020}; .motor_type = GM6020};
// PITCH // PITCH
Motor_Init_Config_s pitch_config = { Motor_Init_Config_s pitch_config = {
.can_init_config = { .can_init_config = {
.can_handle = &hcan2, .can_handle = &hcan2,
.tx_id = 2, .tx_id = 4,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 10, // 10
.Ki = 0,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
}, },
.speed_PID = { .controller_param_init_config = {
.Kp = 50, // 50 .angle_PID = {
.Ki = 350, // 350 .Kp = 7.5, // 10
.Kd = 0, // 0 .Ki = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Kd = 0.05,
.IntegralLimit = 2500, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 20000, .IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = -300, // 50
.Ki = 0, // 350
.Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 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
.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[0],
}, },
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch, .controller_setting_init_config = {
// 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 .angle_feedback_source = OTHER_FEED,
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]), .speed_feedback_source = OTHER_FEED,
}, .outer_loop_type = ANGLE_LOOP,
.controller_setting_init_config = { .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.angle_feedback_source = OTHER_FEED, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.speed_feedback_source = OTHER_FEED, },
.outer_loop_type = ANGLE_LOOP, .motor_type = GM6020,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020,
}; };
// 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 // 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
yaw_motor = DJIMotorInit(&yaw_config); yaw_motor = DJIMotorInit(&yaw_config);
@ -100,55 +101,66 @@ void GimbalInit()
} }
/* 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 */ /* 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 */
void GimbalTask() void GimbalTask() {
{
// 获取云台控制数据 // 获取云台控制数据
// 后续增加未收到数据的处理 // 后续增加未收到数据的处理
SubGetMessage(gimbal_sub, &gimbal_cmd_recv); SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
// @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 // @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
// 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 // 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
switch (gimbal_cmd_recv.gimbal_mode) switch (gimbal_cmd_recv.gimbal_mode) {
{ // 停止
// 停止 case GIMBAL_ZERO_FORCE:
case GIMBAL_ZERO_FORCE: DJIMotorStop(yaw_motor);
DJIMotorStop(yaw_motor); DJIMotorStop(pitch_motor);
DJIMotorStop(pitch_motor); break;
break; // 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
// 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 case GIMBAL_GYRO_MODE: // 后续只保留此模式
case GIMBAL_GYRO_MODE: // 后续只保留此模式 DJIMotorEnable(yaw_motor);
DJIMotorEnable(yaw_motor); DJIMotorEnable(pitch_motor);
DJIMotorEnable(pitch_motor); DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED); DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED); DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈 DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); break;
break; // 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
// 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 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)
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) DJIMotorEnable(yaw_motor);
DJIMotorEnable(yaw_motor); DJIMotorEnable(pitch_motor);
DJIMotorEnable(pitch_motor); DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED); DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED); DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED); DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈 DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch); break;
break; default:
default: break;
break;
} }
// 在合适的地方添加pitch重力补偿前馈力矩 // 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩 // 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ... // ...
//float vofa_send_data[4];
// vofa_send_data[0] = pitch_motor->motor_controller.speed_PID.Ref;
// vofa_send_data[1] = pitch_motor->motor_controller.speed_PID.Measure;
// vofa_send_data[2] = pitch_motor->motor_controller.angle_PID.Ref;
// vofa_send_data[3] = pitch_motor->motor_controller.angle_PID.Measure;
//
// vofa_send_data[0] = yaw_motor->motor_controller.speed_PID.Ref;
// vofa_send_data[1] = yaw_motor->motor_controller.speed_PID.Measure;
// vofa_send_data[2] = yaw_motor->motor_controller.angle_PID.Ref;
// vofa_send_data[3] = yaw_motor->motor_controller.angle_PID.Measure;
// vofa_justfloat_output(vofa_send_data, 16, &huart1);
// 设置反馈数据,主要是imu和yaw的ecd // 设置反馈数据,主要是imu和yaw的ecd
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data; gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round; gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
// 推送消息 // 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data); PubPushMessage(gimbal_pub, (void *) &gimbal_feedback_data);
} }

4
application/robot.c
View File

@ -31,7 +31,7 @@ void RobotInit()
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD) #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDInit(); RobotCMDInit();
// GimbalInit(); GimbalInit();
// ShootInit(); // ShootInit();
#endif #endif
@ -49,7 +49,7 @@ void RobotTask()
{ {
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD) #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDTask(); RobotCMDTask();
//GimbalTask(); GimbalTask();
//ShootTask(); //ShootTask();
#endif #endif

8
application/robot_def.h
View File

@ -26,11 +26,11 @@
/* 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 */ /* 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 // 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 1995 // 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 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_HORIZON_ECD 1670 // 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) #define PITCH_MAX_ANGLE 30 // 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)
#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) #define PITCH_MIN_ANGLE -18 // 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)
// 发射参数 // 发射参数
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 #define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#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 REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f

2
bsp/usb/bsp_usb.c
View File

@ -27,5 +27,5 @@ uint8_t *USBInit(USB_Init_Config_s usb_conf)
void USBTransmit(uint8_t *buffer, uint16_t len) void USBTransmit(uint8_t *buffer, uint16_t len)
{ {
CDC_Transmit_FS(buffer, len); // 发送 //CDC_Transmit_FS(buffer, len); // 发送
} }

4
modules/vofa/vofa.c
View File

@ -30,6 +30,6 @@ void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart
send_data[4 * num + 2] = 0x80; send_data[4 * num + 2] = 0x80;
send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴 send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100); //HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
//CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4); CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
} }