sentry_left/application/chassis/chassis.c

/**
 * @file chassis.c
 * @author NeoZeng neozng1@hnu.edu.cn
 * @brief 底盘应用,负责接收robot_cmd的控制命令并根据命令进行运动学解算,得到输出
 *        注意底盘采取右手系,对于平面视图,底盘纵向运动的正前方为x正方向;横向运动的右侧为y正方向
 *
 * @version 0.1
 * @date 2022-12-04
 *
 * @copyright Copyright (c) 2022
 *
 */

#include "chassis.h"
#include "robot_def.h"
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
#include "referee_task.h"
#include "power_meter.h"

#include "general_def.h"
#include "bsp_dwt.h"
#include "referee_UI.h"
#include "arm_math.h"
#include "vofa.h"
/* 根据robot_def.h中的macro自动计算的参数 */
#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)     // 半轴距
#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)   // 半轮距
#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长

/* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
#include "can_comm.h"
#include "ins_task.h"
static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
attitude_t *Chassis_IMU_data;
#endif // CHASSIS_BOARD
#ifdef ONE_BOARD
static Publisher_t *chassis_pub;                    // 用于发布底盘的数据
static Subscriber_t *chassis_sub;                   // 用于订阅底盘的控制命令
#endif                                              // !ONE_BOARD
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据

static referee_info_t* referee_data; // 用于获取裁判系统的数据
static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI

static SuperCapInstance *cap;                                       // 超级电容
static PowerMeterInstance *power_meter;                             //功率计
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back

/* 用于自旋变速策略的时间变量 */
// static float t;

/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
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

static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f};

void ChassisInit()
{
    // 四个轮子的参数一样,改tx_id和反转标志位即可
    Motor_Init_Config_s chassis_motor_config = {
        .can_init_config.can_handle = &hcan2,
        .controller_param_init_config = {
            .speed_PID = {
                .Kp = 3.0f, // 4.5
                .Ki = 0.8f,  // 0
                .Kd = 0,  // 0
                .IntegralLimit = 3000,
                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                .MaxOut = 12000,
            },
            .current_PID = {
                .Kp = 0.5f, // 0.4
                .Ki = 0,   // 0
                .Kd = 0,
                .IntegralLimit = 3000,
                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                .MaxOut = 15000,
            },
        },
        .controller_setting_init_config = {
            .angle_feedback_source = MOTOR_FEED,
            .speed_feedback_source = MOTOR_FEED,
            .outer_loop_type = SPEED_LOOP,
            .close_loop_type = SPEED_LOOP| CURRENT_LOOP,

            .power_limit_flag = NO_POWER_LIMIT,//POWER_LIMIT_ON, //开启功率限制
        },
        .motor_type = M3508,
    };
    //  @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
    chassis_motor_config.can_init_config.tx_id = 2;
    chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_lf = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 1;
    chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_rf = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 3;

    chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_lb = DJIMotorInit(&chassis_motor_config);

    chassis_motor_config.can_init_config.tx_id = 4;
    chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
    motor_rb = DJIMotorInit(&chassis_motor_config);

    referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI

    SuperCap_Init_Config_s cap_conf = {
        .can_config = {
            .can_handle = &hcan2,
            .tx_id = 0x302, // 超级电容默认接收id
            .rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
        }};
    cap = SuperCapInit(&cap_conf); // 超级电容初始化

    PowerMeter_Init_Config_s power_conf = {
            .can_config = {
                    .can_handle = &hcan1,
                    .rx_id = 0x212,
            }
    };

    power_meter = PowerMeterInit(&power_conf);

    // 发布订阅初始化,如果为双板,则需要can comm来传递消息
#ifdef CHASSIS_BOARD
    Chassis_IMU_data = INS_Init(); // 底盘IMU初始化

    CANComm_Init_Config_s comm_conf = {
        .can_config = {
            .can_handle = &hcan2,
            .tx_id = 0x311,
            .rx_id = 0x312,
        },
        .recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
        .send_data_len = sizeof(Chassis_Upload_Data_s),
    };
    chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
#endif                                          // CHASSIS_BOARD

#ifdef ONE_BOARD // 单板控制整车,则通过pubsub来传递消息
    chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
    chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
#endif // ONE_BOARD
}

#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
/**
 * @brief 计算每个轮毂电机的输出,正运动学解算
 *        用宏进行预替换减小开销,运动解算具体过程参考教程
 */
static void MecanumCalculate()
{
    vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
    vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
    vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
    vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
}

static void OmniCalculate()
{
    vt_rf = -(HALF_TRACK_WIDTH+HALF_WHEEL_BASE)*chassis_cmd_recv.wz + chassis_vx - chassis_vy;
    vt_rb = -(HALF_TRACK_WIDTH+HALF_WHEEL_BASE)*chassis_cmd_recv.wz - chassis_vx - chassis_vy;
    vt_lb = -(HALF_TRACK_WIDTH+HALF_WHEEL_BASE)*chassis_cmd_recv.wz - chassis_vx + chassis_vy;
    vt_lf = -(HALF_TRACK_WIDTH+HALF_WHEEL_BASE)*chassis_cmd_recv.wz + chassis_vx + chassis_vy;

    vt_rf/=(WHEEL_BASE*1.414f);
    vt_rb/=(WHEEL_BASE*1.414f);
    vt_lb/=(WHEEL_BASE*1.414f);
    vt_lf/=(WHEEL_BASE*1.414f);
}


//依据3508电机功率模型，预测电机输出功率
static float EstimatePower(DJIMotorInstance* chassis_motor)
{

    float I_cmd = chassis_motor->motor_controller.current_PID.Output;
    float w = chassis_motor->measure.speed_aps /6 ;//aps to rpm

    float power = motor_power_K[0] * I_cmd * w + motor_power_K[1]*w*w  + motor_power_K[2]*I_cmd*I_cmd;

    return power;
}
float vofa_send_data[6];
/**
 * @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值
 *
 */
static void LimitChassisOutput()
{
    float P_cmd = motor_rf->motor_controller.motor_power_predict +
                  motor_rb->motor_controller.motor_power_predict +
                  motor_lb->motor_controller.motor_power_predict +
                  motor_lf->motor_controller.motor_power_predict + 3.6f;
    float P_max = 100 - 10;
    float K = P_max/P_cmd;
    vofa_send_data[2] = P_cmd;

    motor_rf->motor_controller.motor_power_scale = K;
    motor_rb->motor_controller.motor_power_scale = K;
    motor_lf->motor_controller.motor_power_scale = K;
    motor_lb->motor_controller.motor_power_scale = K;

    {
        DJIMotorSetRef(motor_lf, vt_lf);
        DJIMotorSetRef(motor_rf, vt_rf);
        DJIMotorSetRef(motor_lb, vt_lb);
        DJIMotorSetRef(motor_rb, vt_rb);
    }



}

/**
 * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
 *        对于双板的情况,考虑增加来自底盘板IMU的数据
 *
 */
static void EstimateSpeed()
{
    // 根据电机速度和陀螺仪的角速度进行解算,还可以利用加速度计判断是否打滑(如果有)
    // chassis_feedback_data.vx vy wz =
    //  ...
}

/* 机器人底盘控制核心任务 */
void ChassisTask()
{
    // 后续增加没收到消息的处理(双板的情况)
    // 获取新的控制信息
#ifdef ONE_BOARD
    SubGetMessage(chassis_sub, &chassis_cmd_recv);
#endif
#ifdef CHASSIS_BOARD
    chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
#endif // CHASSIS_BOARD

    if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
    { // 如果出现重要模块离线或遥控器设置为急停,让电机停止
        DJIMotorStop(motor_lf);
        DJIMotorStop(motor_rf);
        DJIMotorStop(motor_lb);
        DJIMotorStop(motor_rb);
    }
    else
    { // 正常工作
        DJIMotorEnable(motor_lf);
        DJIMotorEnable(motor_rf);
        DJIMotorEnable(motor_lb);
        DJIMotorEnable(motor_rb);
    }
    chassis_cmd_recv.offset_angle = chassis_cmd_recv.offset_angle * RAD_2_DEGREE;
    // 根据控制模式设定旋转速度
    switch (chassis_cmd_recv.chassis_mode)
    {

    case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
        //chassis_cmd_recv.wz = 0;
        chassis_cmd_recv.wz = 100.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
        break;
    case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
        chassis_cmd_recv.wz = 1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
        break;
    case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
        //chassis_cmd_recv.wz = 4000 * 10;
        break;
    default:
        break;
    }

    // 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)
    static float sin_theta, cos_theta;
    cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle );
    sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle );
    //sin_theta = 0; cos_theta = 1;
    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;


    // 根据控制模式进行正运动学解算,计算底盘输出
    MecanumCalculate();
    //OmniCalculate();
    //vt_rf = 5000;
    // 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
    LimitChassisOutput();

    //DJIMotorSetRef(motor_rf, 5000);
//    DJIMotorSetRef(motor_rf, 5000);
//    DJIMotorSetRef(motor_rb, 5000);
//    DJIMotorSetRef(motor_lf, 5000);
//    DJIMotorSetRef(motor_lb, 5000);

    vofa_send_data[0] = motor_rf->motor_controller.speed_PID.Ref;
    vofa_send_data[1] = motor_rf->motor_controller.speed_PID.Measure;

    vofa_send_data[3] = PowerMeterGet(power_meter);
    vofa_send_data[4] = 60;




    vofa_justfloat_output(vofa_send_data,24,&huart1);

    // 根据电机的反馈速度和IMU(如果有)计算真实速度
    EstimateSpeed();

    // // 获取裁判系统数据   建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
    // // 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
    // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
    // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
    // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
    // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;

    // 推送反馈消息
#ifdef ONE_BOARD
    PubPushMessage(chassis_pub, (void *)&chassis_feedback_data);
#endif
#ifdef CHASSIS_BOARD
    CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);
#endif // CHASSIS_BOARD
}