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更换cpp架构 有标准冲突待解决

This commit is contained in:
宋家齐 2024-03-09 22:56:07 +08:00
parent 3e54d14737
commit 58c1d73ca6
5 changed files with 47 additions and 51 deletions
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9
application/balance/balance.cpp
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@ -61,6 +61,15 @@ Matrixf<2,1> balance::get_control() {
return balance_LQR_.get_control();
}
void balance::L_target_set(float L) {
target_length_ = L;
}
void balance::Phi_target_set(float Phi) {
}
void get_lqr_k(float L0, float K[12])
{
float t2;

6
application/balance/balance.h
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@ -16,10 +16,14 @@ typedef struct
class balance {
public:
balance(Balance_Init_config_s* InitConfig);
balance()= default;
explicit balance(Balance_Init_config_s* InitConfig);
void feedback_update(float leg_phi[4],float leg_phi_dot[4],float body_phi,float body_phi_dot,float x,float x_dot,float MotionAccel_z);
void control_loop();
void target_set(float x);
void L_target_set(float L);
void Phi_target_set(float Phi);
Matrixf<2,1> get_control();
private:

1
application/balance/leg.cpp
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@ -153,3 +153,4 @@ float leg::calculate_FN(float MotionAccel_z,float theta,float theta_dot) {

1
application/balance/leg.h
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@ -40,6 +40,7 @@ class leg
{
public:
leg(Leg_init_config_s* legInitConfig);
leg() {};
void state_update(float phi1,float phi4 ,float phi1_dot,float phi4_dot);
void input_update(float F,float Tp);
void feedback_update(float T1_fb,float T2_fb);

67
application/chassis/chassis.cpp
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@ -67,10 +67,7 @@ static LKMotorInstance *wheel_motor_r,*wheel_motor_l;
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
balance balance_chassis();
balance balance_chassis;
BalanceObserver Observer;
@ -83,25 +80,25 @@ void ChassisInit()
{
// 四个关节电机的参数,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_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = OPEN_LOOP,
.close_loop_type = OPEN_LOOP,//| CURRENT_LOOP,
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
},
.motor_type = HT04,
};
.can_init_config = {.can_handle = &hcan2},
};
Motor_Init_Config_s wheel_motor_config = {
.can_init_config.can_handle = &hcan1,
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = OPEN_LOOP,
.close_loop_type = OPEN_LOOP,//| CURRENT_LOOP,
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
},
.motor_type = LK9025,
.can_init_config = {.can_handle = &hcan1},
};
// @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 = 1;
@ -159,18 +156,22 @@ void ChassisInit()
.Ki = 100,//5,
.Kd = 20,//10,//6,//6,
.MaxOut = 100,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter,
.Derivative_LPF_RC = 0.001f,//1/(2*PI*10),
.Improve = static_cast<PID_Improvement_e>(PID_Trapezoid_Intergral | PID_Integral_Limit |
PID_Derivative_On_Measurement |
PID_DerivativeFilter),
.IntegralLimit = 100,
.Derivative_LPF_RC = 0.001f,//1/(2*PI*10),
},
.phi0_PID_conf = {
.Kp = 80,
.Ki = 0,
.Kd = 5,
.MaxOut = 5,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement| PID_DerivativeFilter,
.Derivative_LPF_RC = 1/(2*PI*10),
.Improve = static_cast<PID_Improvement_e>(PID_Trapezoid_Intergral | PID_Integral_Limit |
PID_Derivative_On_Measurement |
PID_DerivativeFilter),
.IntegralLimit = 100,
.Derivative_LPF_RC = 1/(2*PI*10),
},
.init_target_L0 = 0.15f,
.F_feedforward = 0,
@ -183,12 +184,9 @@ void ChassisInit()
.Improve = static_cast<PID_Improvement_e>(PID_Derivative_On_Measurement | PID_DerivativeFilter),
.Derivative_LPF_RC = 0.01f,
},
.LQR_state_num = 6,
.LQR_control_num = 2,
};
//Leg_Init(&legInstance,&leg_r_init_conf);
balance_chassis = balance(&balanceInitConfig);
Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
//转向环
@ -197,7 +195,7 @@ void ChassisInit()
.Ki = 0,
.Kd = 0.0f,
.MaxOut = 2,
.Improve = PID_Derivative_On_Measurement|PID_DerivativeFilter,
.Improve = static_cast<PID_Improvement_e>(PID_Derivative_On_Measurement | PID_DerivativeFilter),
.Derivative_LPF_RC = 0.001f
};
PIDInit(&Turn_Loop_PID,&turn_pid_cfg);
@ -289,10 +287,7 @@ static void Chassis_State_update()
float x_dot = speed * 0.135f/2;
Balance_feedback_update(&BalanceControl,leg_phi,leg_phi_dot,body_phi,body_phi_dot,x,x_dot,Chassis_IMU_data->MotionAccel_n[2]);
Leg_feedback_update(&BalanceControl.leg_right,motor_rf->measure.real_current / HT_CMD_COEF,motor_rb->measure.real_current / HT_CMD_COEF);
Leg_feedback_update(&BalanceControl.leg_left,motor_lf->measure.real_current / HT_CMD_COEF,motor_lb->measure.real_current / HT_CMD_COEF);
balance_chassis.feedback_update(leg_phi,leg_phi_dot,body_phi,body_phi_dot,x,x_dot,Chassis_IMU_data->MotionAccel_n[2]);
if( ChassisState == FAIL )
{
@ -373,27 +368,13 @@ void ChassisTask()
float vofa_send_data[8];
BalanceControl.leg_right.target_L0 += chassis_cmd_recv.vy/5280 * 0.0003f;
BalanceControl.leg_right.target_L0 = float_constrain(BalanceControl.leg_right.target_L0,0.15f,0.30f);
BalanceControl.leg_right.target_phi0 = PI/2;
static float L_target = 0;
L_target += chassis_cmd_recv.vy/5280 * 0.0003f;
L_target = float_constrain(L_target,0.15f,0.30f);
BalanceControl.leg_left.target_L0 = BalanceControl.leg_right.target_L0;
BalanceControl.leg_left.target_L0 = float_constrain(BalanceControl.leg_left.target_L0,0.15f,0.30f);
BalanceControl.leg_left.target_phi0 = PI/2;
balance_chassis.L_target_set(L_target);
vofa_send_data[0] = BalanceControl.leg_right.legState.L0;
vofa_send_data[1] = BalanceControl.leg_left.legState.L0;
vofa_send_data[2] = BalanceControl.leg_length_PID.Ref;
vofa_send_data[3] = BalanceControl.leg_length_PID.Measure;
vofa_send_data[4] = BalanceControl.leg_right.legInput.F;
vofa_send_data[5] = BalanceControl.leg_left.legInput.F;
vofa_send_data[6] = Observer.Estimate_X[3];
vofa_send_data[7] = BalanceControl.state[3];
vofa_justfloat_output(vofa_send_data,32,&huart1);
//vofa_justfloat_output(vofa_send_data,32,&huart1);
static float target_x = 0;
static float target_yaw = 0;