更改了宏定义的文件
This commit is contained in:
NeoZng
parent
8e7935876e
commit
3c8ffda61d
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@ -35,7 +35,8 @@
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"compare": "c",
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"*.tcc": "c",
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"type_traits": "c",
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"typeinfo": "c"
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"typeinfo": "c",
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"general_def.h": "c"
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},
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"C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools",
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}
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@ -18,18 +18,12 @@
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#include "message_center.h"
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#include "referee.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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#include "arm_math.h"
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/* 需要根据机器人底盘修改的参数,单位为mm(毫米) */
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#define WHEEL_BASE 300 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
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#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
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#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
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#define RADIUS_WHEEL 60 // 轮子半径
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#define REDUCTION_RATIO 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
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/* 自动计算的参数 */
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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)
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#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)
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#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI)
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@ -54,6 +48,9 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
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static Subscriber_t *chassis_sub;
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static Chassis_Upload_Data_s chassis_feedback_data;
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/* 用于自旋变速策略的时间变量,后续考虑查表加速 */
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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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@ -173,8 +170,8 @@ static void MecanumCalculate()
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{
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vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
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vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
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vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
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vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
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vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
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vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
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}
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/**
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@ -215,31 +212,31 @@ void ChassisTask()
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// 后续增加不同状态的过渡模式?
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switch (chassis_cmd_recv.chassis_mode)
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{
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case CHASSIS_NO_FOLLOW:
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chassis_cmd_recv.wz = 0; // 云台任意移动模式,不旋转,一般用于调整云台姿态
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break;
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case CHASSIS_FOLLOW_GIMBAL_YAW:
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chassis_cmd_recv.wz = 0.05f * powf(chassis_cmd_recv.wz, 2.0f); // 跟随,不开pid,以误差角平方为输出
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break;
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case CHASSIS_ROTATE:
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// chassis_cmd_recv.wz // 当前维持定值,后续增加不规则的变速策略
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break;
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case CHASSIS_ZERO_FORCE:
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DJIMotorStop(motor_lf); // 如果出现重要模块离线或遥控器设置为急停,让电机停止
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DJIMotorStop(motor_rf);
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DJIMotorStop(motor_lb);
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DJIMotorStop(motor_rb);
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break;
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case CHASSIS_NO_FOLLOW:
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chassis_cmd_recv.wz = 0; // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
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break;
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case CHASSIS_FOLLOW_GIMBAL_YAW:
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chassis_cmd_recv.wz = 0.05f * powf(chassis_cmd_recv.wz, 2.0f); // 跟随,不单独设置pid,以误差角平方为速度输出
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break;
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case CHASSIS_ROTATE:
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// chassis_cmd_recv.wz=sin(t) // 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
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break;
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default:
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break;
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}
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// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
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// 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)
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chassis_vx = chassis_cmd_recv.vx * arm_cos_f32(chassis_cmd_recv.offset_angle) -
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chassis_cmd_recv.vy * arm_sin_f32(chassis_cmd_recv.offset_angle);
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chassis_vy = chassis_cmd_recv.vx * arm_sin_f32(chassis_cmd_recv.offset_angle) -
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chassis_cmd_recv.vy * arm_cos_f32(chassis_cmd_recv.offset_angle);
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chassis_vx = chassis_cmd_recv.vx * arm_cos_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD) -
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chassis_cmd_recv.vy * arm_sin_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD);
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chassis_vy = chassis_cmd_recv.vx * arm_sin_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD) -
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chassis_cmd_recv.vy * arm_cos_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD);
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// 根据控制模式进行正运动学解算,计算底盘输出
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MecanumCalculate();
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@ -251,8 +248,9 @@ void ChassisTask()
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EstimateSpeed();
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// 获取裁判系统数据
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// 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
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chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0; //
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// 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
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chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
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// 当前只做了17mm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
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chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
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chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
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@ -5,13 +5,9 @@
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#include "message_center.h"
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#include "general_def.h"
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/* 根据每个机器人进行设定,若对云台有改动需要修改 */
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#define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机编码器值
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#define PITCH_HORIZON_ECD 0 // 云台处于水平位置时编码器值
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// 自动将编码器转换成角度值
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#define YAW_CHASSIS_ALIGN_ANGLE
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#define PTICH_HORIZON_ALIGN_ANGLE
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#define YAW_CHASSIS_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF)
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#define PTICH_HORIZON_ALIGN_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
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static attitude_t *Gimbal_IMU_data; // 云台IMU数据
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static dji_motor_instance *yaw_motor; // yaw电机
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@ -81,6 +77,7 @@ void GimbalInit()
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},
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.motor_type = GM6020};
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// 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
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yaw_motor = DJIMotorInit(&yaw_config);
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pitch_motor = DJIMotorInit(&pitch_config);
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@ -104,29 +101,31 @@ void GimbalTask()
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SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
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// 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
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// 是否要增加不同模式之间的过渡?
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// 是否要增加不同模式之间的过渡?
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switch (gimbal_cmd_recv.gimbal_mode)
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{
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// 停止
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case GIMBAL_ZERO_FORCE:
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DJIMotorStop(yaw_motor);
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DJIMotorStop(pitch_motor);
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break;
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// 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
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case GIMBAL_GYRO_MODE:
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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break;
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// 是否考虑直接让云台和底盘重合,其他模式都使用陀螺仪反馈?
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// 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
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case GIMBAL_FREE_MODE:
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DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, MOTOR_FEED);
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DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, MOTOR_FEED);
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DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, MOTOR_FEED);
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DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, MOTOR_FEED);
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DJIMotorSetRef(yaw_motor, YAW_ALIGN_ECD);
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DJIMotorSetRef(pitch_motor, PITCH_HORIZON_ECD);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
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DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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break;
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default:
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break;
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@ -146,9 +145,9 @@ void GimbalTask()
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}
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*/
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// 获取反馈数据
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// 设置反馈数据
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gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
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gimbal_feedback_data.yaw_motor_ecd = pitch_motor->motor_measure.ecd;
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gimbal_feedback_data.yaw_motor_single_round_angle = pitch_motor->motor_measure.angle_single_round;
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// 推送消息
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PubPushMessage(gimbal_pub, &gimbal_feedback_data);
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@ -23,7 +23,21 @@
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// #define GIMBAL_BOARD //云台板
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/* 重要参数定义,注意根据不同机器人进行修改 */
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#define YAW_MID_ECD
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// 云台参数
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#define YAW_CHASSIS_ALIGN_ECD 0 // 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
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#define PITCH_HORIZON_ECD 0 // 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
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// 发射参数
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#define ONE_BULLET_DELTA_ANGLE 0 // 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 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
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#define NUM_PER_CIRCLE 1 // 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 300 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
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#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
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#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
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#define RADIUS_WHEEL 60 // 轮子半径
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#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
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#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
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(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \
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@ -135,7 +149,7 @@ typedef struct
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shoot_mode_e shoot_mode;
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Bullet_Speed_e bullet_speed; // 弹速枚举
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uint8_t rest_heat;
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float shoot_rate; //连续发射的射频,unit per s,发/秒
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float shoot_rate; // 连续发射的射频,unit per s,发/秒
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} Shoot_Ctrl_Cmd_s;
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/* ----------------gimbal/shoot/chassis发布的反馈数据----------------*/
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@ -166,7 +180,7 @@ typedef struct
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typedef struct
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{
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attitude_t gimbal_imu_data;
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uint16_t yaw_motor_ecd;
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uint16_t yaw_motor_single_round_angle;
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} Gimbal_Upload_Data_s;
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typedef struct
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@ -5,9 +5,6 @@
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#include "bsp_dwt.h"
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#include "general_def.h"
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#define ONE_BULLET_DELTA_ANGLE 0 // 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 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
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#define NUM_PER_CIRCLE 1 // 拨盘一圈的装载量
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/* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */
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static dji_motor_instance *friction_l; // 左摩擦轮
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@ -137,7 +134,7 @@ void ShootTask()
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if (hibernate_time + dead_time > DWT_GetTimeline_ms())
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return;
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// 若不在休眠状态,根据控制模式进行电机参考值设定和模式切换
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// 若不在休眠状态,根据控制模式进行拨盘电机参考值设定和模式切换
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switch (shoot_cmd_recv.load_mode)
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{
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// 停止拨盘
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@ -162,7 +159,7 @@ void ShootTask()
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// 连发模式,对速度闭环,射频后续修改为可变
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case LOAD_BURSTFIRE:
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DJIMotorOuterLoop(loader, SPEED_LOOP);
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DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO / NUM_PER_CIRCLE);
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DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_WHEEL / NUM_PER_CIRCLE);
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// x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度
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break;
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// 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈)
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@ -175,7 +172,7 @@ void ShootTask()
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break;
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}
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// 根据收到的弹速设置设定摩擦轮参考值,需实测后填入
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// 根据收到的弹速设置设定摩擦轮电机参考值,需实测后填入
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switch (shoot_cmd_recv.bullet_speed)
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{
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case SMALL_AMU_15:
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@ -1,8 +1,6 @@
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#include "dji_motor.h"
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#include "general_def.h"
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#define ECD_ANGLE_COEF 0.043945f // 360/8192,将编码器值转化为角度制
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static uint8_t idx = 0; // register idx,是该文件的全局电机索引,在注册时使用
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/* DJI电机的实例,此处仅保存指针,内存的分配将通过电机实例初始化时通过malloc()进行 */
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@ -134,7 +132,7 @@ static void DecodeDJIMotor(can_instance *_instance)
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// resolve data and apply filter to current and speed
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measure->last_ecd = measure->ecd;
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measure->ecd = (uint16_t)(rxbuff[0] << 8 | rxbuff[1]);
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measure->angle_single_round = ECD_ANGLE_COEF* measure->ecd;
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measure->angle_single_round = ECD_ANGLE_COEF * measure->ecd;
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measure->speed_angle_per_sec = (1 - SPEED_SMOOTH_COEF) * measure->speed_angle_per_sec +
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RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]);
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measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current +
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@ -251,13 +249,13 @@ void DJIMotorControl()
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{
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if (motor_setting->speed_feedback_source == OTHER_FEED)
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pid_measure = *motor_controller->other_speed_feedback_ptr;
|
||||
else
|
||||
else // MOTOR_FEED
|
||||
pid_measure = motor_measure->speed_angle_per_sec;
|
||||
// 更新pid_ref进入下一个环
|
||||
motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
|
||||
}
|
||||
|
||||
// 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身的反馈
|
||||
// 计算电流环,只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
|
||||
if (motor_setting->close_loop_type & CURRENT_LOOP)
|
||||
{
|
||||
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
|
||||
|
|
|
|||
|
|
@ -24,6 +24,8 @@
|
|||
/* 滤波系数设置为1的时候即关闭滤波 */
|
||||
#define SPEED_SMOOTH_COEF 0.9f // better to be greater than 0.85
|
||||
#define CURRENT_SMOOTH_COEF 0.98f // this coef *must* be greater than 0.95
|
||||
#define ECD_ANGLE_COEF 0.043945f // 360/8192,将编码器值转化为角度制
|
||||
|
||||
|
||||
/* DJI电机CAN反馈信息*/
|
||||
typedef struct
|
||||
|
|
|
|||
|
|
@ -37,8 +37,8 @@ typedef enum
|
|||
/* 反馈来源设定,若设为OTHER_FEED则需要指定数据来源指针,详见Motor_Controller_s*/
|
||||
typedef enum
|
||||
{
|
||||
MOTOR_FEED = 0,
|
||||
OTHER_FEED = 1
|
||||
MOTOR_FEED,
|
||||
OTHER_FEED,
|
||||
} Feedback_Source_e;
|
||||
|
||||
/* 电机正反转标志 */
|
||||
|
|
|
|||
Loading…
Reference in New Issue