新增通用定义头文件,主要内容是角度转换.统一控制的输入,为后续model-based控制做准备
This commit is contained in:
NeoZng
parent
e94bb504b8
commit
8e7935876e
6
Makefile
6
Makefile
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@ -121,7 +121,8 @@ modules/master_machine/seasky_protocol.c \
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modules/motor/dji_motor.c \
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modules/motor/HT04.c \
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modules/motor/LK9025.c \
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modules/mode/step_motor.c \
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modules/motor/step_motor.c \
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modules/motor/servo_motor.c \
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modules/motor/motor_task.c \
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modules/referee/crc.c \
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modules/referee/referee.c \
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@ -228,7 +229,8 @@ C_INCLUDES = \
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-Imodules/super_cap \
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-Imodules/can_comm \
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-Imodules/message_center \
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-Imodules/monitor
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-Imodules/monitor \
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-Imodules/
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# compile gcc flags
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ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
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@ -17,6 +17,7 @@
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#include "super_cap.h"
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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 "arm_math.h"
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@ -4,6 +4,7 @@
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#include "ins_task.h"
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#include "master_process.h"
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#include "message_center.h"
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#include "general_def.h"
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/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
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#ifndef ONE_BOARD
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@ -3,10 +3,15 @@
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#include "dji_motor.h"
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#include "ins_task.h"
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#include "message_center.h"
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#include "general_def.h"
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// 需要将控制值统一修改为角度制而不是编码器ECD值
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#define YAW_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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/* 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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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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@ -43,7 +48,7 @@ void GimbalInit()
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type=ANGLE_LOOP,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
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.reverse_flag = MOTOR_DIRECTION_REVERSE,
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},
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@ -70,7 +75,7 @@ void GimbalInit()
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type=ANGLE_LOOP,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
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.reverse_flag = MOTOR_DIRECTION_REVERSE,
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},
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@ -84,8 +89,8 @@ void GimbalInit()
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}
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// /**
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// * @brief
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// *
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// * @brief
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// *
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// */
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// static void TransitionMode()
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// {
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@ -111,17 +116,17 @@ void GimbalTask()
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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(pitch_motor,gimbal_cmd_recv.pitch);
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DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
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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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// 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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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, YAW_ALIGN_ECD);
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DJIMotorSetRef(pitch_motor, PITCH_HORIZON_ECD);
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break;
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default:
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break;
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@ -142,9 +147,9 @@ void GimbalTask()
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*/
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// 获取反馈数据
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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.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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// 推送消息
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PubPushMessage(gimbal_pub,&gimbal_feedback_data);
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PubPushMessage(gimbal_pub, &gimbal_feedback_data);
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}
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@ -12,10 +12,6 @@
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#ifndef ROBOT_DEF_H
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#define ROBOT_DEF_H
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#define PI 3.14159f
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#define RAD_2_ANGLE (180.0f / PI)
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#define ANGLE_2_RAD (PI / 180.0f)
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#include "ins_task.h"
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#include "master_process.h"
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#include "stdint-gcc.h"
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@ -3,6 +3,7 @@
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#include "dji_motor.h"
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#include "message_center.h"
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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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@ -19,9 +20,8 @@ static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息
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static Subscriber_t *shoot_sub;
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static Shoot_Upload_Data_s shoot_feedback_data; // 来自gimbal_cmd的发射控制信息
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// 定时,计算冷却用
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static uint32_t INS_DWT_Count = 0;
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static float dt = 0, t = 0;
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// dwt定时,计算冷却用
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static float hibernate_time = 0, dead_time = 0;
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void ShootInit()
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{
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@ -125,30 +125,39 @@ void ShootTask()
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// 从cmd获取控制数据
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SubGetMessage(shoot_sub, &shoot_cmd_recv);
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// 根据控制模式进行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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// 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机
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if (shoot_cmd_recv.load_mode == SHOOT_STOP)
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{
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// 停止三个电机
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case SHOOT_STOP:
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DJIMotorStop(friction_l);
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DJIMotorStop(friction_r);
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DJIMotorStop(loader);
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break;
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}
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// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
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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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switch (shoot_cmd_recv.load_mode)
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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);
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DJIMotorSetRef(loader, 0);
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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)
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// 激活能量机关/干扰对方用,英雄用.
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case LOAD_1_BULLET:
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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)F
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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);
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DJIMotorSetRef(loader, loader->motor_measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 增加一发弹丸
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DJIMotorSetRef(loader, loader->motor_measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 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 = 150; // 完成1发弹丸发射的时间
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break;
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// 三连发,如果不需要后续可能删除
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case LOAD_3_BULLET:
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DJIMotorOuterLoop(loader, ANGLE_LOOP);
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DJIMotorSetRef(loader, loader->motor_measure.total_angle + 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = 300; // 完成3发弹丸发射的时间
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break;
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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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@ -5,4 +5,4 @@ void ShootInit();
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void ShootTask();
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#endif //SHOOT_H
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#endif // SHOOT_H
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@ -0,0 +1,13 @@
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#ifndef GENERAL_DEF_H
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#define GENERAL_DEF_H
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#define PI 3.1415926535f
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#define PI2 (PI * 2.0f) // 2 pi
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#define RAD_2_ANGLE (180.0f / PI)
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#define ANGLE_2_RAD (PI / 180.0f)
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#define RPM_2_ANGLE_PER_SEC (360.0f/60.0f) // ×360°/60sec
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#endif // !GENERAL_DEF_H
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@ -1,6 +1,6 @@
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#include "dji_motor.h"
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#include "general_def.h"
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#define PI2 (3.141592f * 2) // 2pi
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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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@ -129,20 +129,24 @@ static void DecodeDJIMotor(can_instance *_instance)
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if (dji_motor_info[i]->motor_can_instance == _instance)
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{
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rxbuff = _instance->rx_buff;
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measure = &dji_motor_info[i]->motor_measure;
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measure = &dji_motor_info[i]->motor_measure; // measure要多次使用,保存指针减小访存开销
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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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// 增加滤波
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measure->speed_rpm = (1 - SPEED_SMOOTH_COEF) * measure->speed_rpm + SPEED_SMOOTH_COEF * (int16_t)(rxbuff[2] << 8 | rxbuff[3]);
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measure->given_current = (1 - CURRENT_SMOOTH_COEF) * measure->given_current + CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
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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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RPM_2_ANGLE_PER_SEC * CURRENT_SMOOTH_COEF * (uint16_t)(rxbuff[4] << 8 | rxbuff[5]);
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measure->temperate = rxbuff[6];
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// multi round calc
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if (measure->ecd - measure->last_ecd > 4096)
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// multi rounds calc,计算的前提是两次采样间电机转过的角度小于180°
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if (measure->ecd - measure->last_ecd > 4096)
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measure->total_round--;
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else if (measure->ecd - measure->last_ecd < -4096)
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measure->total_round++;
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measure->total_angle = measure->total_round * 360 + measure->ecd * ECD_ANGLE_COEF; // @todo simplify the calculation
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measure->total_angle = measure->total_round * 360 + measure->angle_single_round;
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break;
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}
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}
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@ -164,8 +168,10 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
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PID_Init(&dji_motor_info[idx]->motor_controller.angle_PID, &config->controller_param_init_config.angle_PID);
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dji_motor_info[idx]->motor_controller.other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
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dji_motor_info[idx]->motor_controller.other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
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// group motors, because 4 motors share the same CAN control message
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MotorSenderGrouping(&config->can_init_config);
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// register motor to CAN bus
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config->can_init_config.can_module_callback = DecodeDJIMotor; // set callback
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dji_motor_info[idx]->motor_can_instance = CANRegister(&config->can_init_config);
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@ -173,7 +179,6 @@ dji_motor_instance *DJIMotorInit(Motor_Init_Config_s *config)
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return dji_motor_info[idx++];
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}
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// 改变反馈来源
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void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedback_Source_e type)
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{
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if (loop == ANGLE_LOOP)
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@ -186,12 +191,28 @@ void DJIMotorChangeFeed(dji_motor_instance *motor, Closeloop_Type_e loop, Feedba
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}
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}
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void DJIMotorStop(dji_motor_instance *motor)
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void DJIMotorEnable(dji_motor_instance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void DJIMotorOuterLoop(dji_motor_instance *motor, Closeloop_Type_e outer_loop)
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{
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motor->motor_settings.outer_loop_type = outer_loop;
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}
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// 设置参考值
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void DJIMotorSetRef(dji_motor_instance *motor, float ref)
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{
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motor->motor_controller.pid_ref = ref;
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}
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// 计算三环PID,发送控制报文
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// 为所有电机实例计算三环PID,发送控制报文
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void DJIMotorControl()
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{
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// 预先通过静态变量定义避免反复释放分配栈空间,直接保存一次指针引用从而减小访存的开销
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@ -231,7 +252,7 @@ void DJIMotorControl()
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if (motor_setting->speed_feedback_source == OTHER_FEED)
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pid_measure = *motor_controller->other_speed_feedback_ptr;
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else
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pid_measure = motor_measure->speed_rpm;
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pid_measure = motor_measure->speed_angle_per_sec;
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// 更新pid_ref进入下一个环
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motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
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}
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@ -272,18 +293,3 @@ void DJIMotorControl()
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}
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}
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}
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void DJIMotorStop(dji_motor_instance *motor)
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{
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motor->stop_flag = MOTOR_STOP;
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}
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void DJIMotorEnable(dji_motor_instance *motor)
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{
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motor->stop_flag = MOTOR_ENALBED;
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}
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void DJIMotorOuterLoop(dji_motor_instance *motor, Closeloop_Type_e outer_loop)
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{
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motor->motor_settings.outer_loop_type = outer_loop;
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}
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@ -22,19 +22,20 @@
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#define DJI_MOTOR_CNT 12
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/* 滤波系数设置为1的时候即关闭滤波 */
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#define SPEED_SMOOTH_COEF 0.85f // better to be greater than 0.8
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#define CURRENT_SMOOTH_COEF 0.98f // this coef must be greater than 0.95
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#define SPEED_SMOOTH_COEF 0.9f // better to be greater than 0.85
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#define CURRENT_SMOOTH_COEF 0.98f // this coef *must* be greater than 0.95
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/* DJI电机CAN反馈信息*/
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typedef struct
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{
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||||
uint16_t ecd; // 0-8192
|
||||
uint16_t last_ecd;
|
||||
int16_t speed_rpm; // rounds per minute
|
||||
int16_t given_current; // 实际电流
|
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uint8_t temperate;
|
||||
int16_t total_round; // 总圈数,注意方向
|
||||
int32_t total_angle; // 总角度,注意方向
|
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uint16_t ecd; // 0-8191,刻度总共有8192格
|
||||
uint16_t last_ecd; // 上一次读取的编码器值
|
||||
float angle_single_round; // 单圈角度
|
||||
float speed_angle_per_sec; // 度/秒 rounds per minute
|
||||
int16_t given_current; // 实际电流
|
||||
uint8_t temperate; // 温度 Celsius
|
||||
int16_t total_round; // 总圈数,注意方向
|
||||
int32_t total_angle; // 总角度,注意方向
|
||||
} dji_motor_measure;
|
||||
|
||||
/**
|
||||
|
|
@ -59,9 +60,8 @@ typedef struct
|
|||
uint8_t sender_group;
|
||||
uint8_t message_num;
|
||||
|
||||
Motor_Type_e motor_type;
|
||||
|
||||
Motor_Working_Type_e stop_flag;
|
||||
Motor_Type_e motor_type; // 电机类型
|
||||
Motor_Working_Type_e stop_flag; // 启停标志
|
||||
|
||||
} dji_motor_instance;
|
||||
|
||||
|
|
@ -111,22 +111,21 @@ void DJIMotorControl();
|
|||
* @brief 停止电机,注意不是将设定值设为零,而是直接给电机发送的电流值置零
|
||||
*
|
||||
*/
|
||||
void DJIMotorStop(dji_motor_instance* motor);
|
||||
void DJIMotorStop(dji_motor_instance *motor);
|
||||
|
||||
/**
|
||||
* @brief 启动电机,此时电机会响应设定值
|
||||
* 初始化时不需要此函数,因为stop_flag的默认值为0
|
||||
*
|
||||
*/
|
||||
void DJIMotorEnable(dji_motor_instance* motor);
|
||||
void DJIMotorEnable(dji_motor_instance *motor);
|
||||
|
||||
/**
|
||||
* @brief 修改电机闭环目标(外层闭环)
|
||||
*
|
||||
*
|
||||
* @param motor 要修改的电机实例指针
|
||||
* @param outer_loop 外层闭环类型
|
||||
*/
|
||||
void DJIMotorOuterLoop(dji_motor_instance *motor, Closeloop_Type_e outer_loop);
|
||||
|
||||
|
||||
#endif // !DJI_MOTOR_H
|
||||
|
|
|
|||
|
|
@ -15,9 +15,17 @@ dji_motor模块对DJI智能电机，包括M2006，M3508以及GM6020进行了详
|
|||
|
||||
**==设定值的单位==**
|
||||
|
||||
1. 位置环为角度，角度制。
|
||||
2. 速度环为角速度，单位为度/每秒
|
||||
3.
|
||||
1. ==位置环为**角度制**（0-360，total_angle可以为任意值）==
|
||||
|
||||
2. ==速度环为角速度，单位为**度/每秒**（deg/sec）==
|
||||
|
||||
3. ==电流环为mA==
|
||||
|
||||
4. ==GM6020的输入设定为**力矩**，待测量（-30000~30000）==
|
||||
|
||||
==M3508的输入设定为-20A~20A （-16384~16384）==
|
||||
|
||||
==M2006的输入设定为-10A~10A （-10000~10000）==
|
||||
|
||||
如果你希望更改电机的反馈来源，比如进入小陀螺模式/视觉模式（这时候你想要云台保持静止，使用IMU的yaw角度值作为反馈来源），只需要调用`DJIMotorChangeFeed()`，电机便可立刻切换反馈数据来源至IMU。
|
||||
|
||||
|
|
@ -419,6 +427,12 @@ static void DecodeDJIMotor(can_instance *_instance)
|
|||
- `DecodeDJIMotor()`是解析电机反馈报文的函数，在`DJIMotorInit()`中会将其注册到该电机实例对应的`can_instance`中（即`can_instance`的`can_module_callback()`）。这样，当该电机的反馈报文到达时，`bsp_can.c`中的回调函数会调用解包函数进行反馈数据解析。
|
||||
|
||||
该函数还会对电流和速度反馈值进行滤波，消除高频噪声；同时计算多圈角度和单圈绝对角度。
|
||||
|
||||
**电机反馈的电流值为说明书中的映射值，需转换为实际值。**
|
||||
|
||||
**反馈的速度单位是rpm（转每分钟），转换为角度每秒。**
|
||||
|
||||
**反馈的位置是编码器值（0~8191），转换为角度。**
|
||||
|
||||
## 使用范例
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue