更换cpp架构 有标准冲突待解决

application/balance/balance.cpp

@@ -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;
@@ -71,30 +80,30 @@ void get_lqr_k(float L0, float K[12])
      */
     t2 = L0 * L0;
     t3 = t2 * L0;
-    /*     24-Jan-2024 14:05:09 */
+    /*     06-Mar-2024 21:40:29 */
-    K_temp[0] = ((L0 * -141.116669F + t2 * 130.64769F) - t3 * 75.0153351F) - 1.856107F;
+    K_temp[0] =
+            ((L0 * -161.752151F + t2 * 164.793869F) - t3 * 97.0541687F) - 1.77457297F;
     K_temp[1] =
-            ((L0 * 61.3573303F - t2 * 179.144104F) + t3 * 174.797318F) + 2.33913779F;
+            ((L0 * 96.1845703F - t2 * 284.733704F) + t3 * 279.889618F) + 3.29777265F;
     K_temp[2] =
-            ((L0 * -13.9213181F - t2 * 17.6587467F) + t3 * 15.9025316F) - 0.53222841F;
+            ((L0 * -15.8959455F - t2 * 17.009819F) + t3 * 16.7305775F) - 0.452344805F;
     K_temp[3] =
-            ((L0 * 2.06703424F - t2 * 7.27073288F) + t3 * 6.41747713F) + 0.598731041F;
+            ((L0 * 5.66845322F - t2 * 16.5131245F) + t3 * 14.656208F) + 0.677895188F;
-    K_temp[4] =
+    K_temp[4] = ((L0 * -7.06628323F + t2 * 13.4040155F) - t3 * 8.83661747F) - 8.61461F;
-            ((L0 * -3.48888779F + t2 * 5.95020676F) - t3 * 3.25835323F) - 9.27006531F;
     K_temp[5] =
-            ((L0 * -19.3605652F + t2 * 5.27040243F) + t3 * 19.7889462F) + 8.40925217F;
+            ((L0 * -28.798315F + t2 * 17.1446743F) + t3 * 15.3877935F) + 11.4884624F;
-    K_temp[6] = ((L0 * -0.848105669F - t2 * 14.6889477F) + t3 * 20.0115433F) -
+    K_temp[6] =
-                10.4576302F;
+            ((L0 * -5.75727034F - t2 * 3.09837651F) + t3 * 10.1307449F) - 9.7942028F;
     K_temp[7] =
-            ((L0 * -25.0337353F + t2 * 27.6494694F) - t3 * 6.41098928F) + 8.5957756F;
+            ((L0 * -33.38451F + t2 * 35.8943558F) - t3 * 7.07260895F) + 11.7050676F;
     K_temp[8] =
-            ((L0 * -67.2155914F + t2 * 92.1350479F) - t3 * 50.9733543F) + 29.9440556F;
+            ((L0 * -83.7100143F + t2 * 109.333092F) - t3 * 54.9969864F) + 36.5699463F;
     K_temp[9] =
-            ((L0 * 74.7469635F - t2 * 150.980896F) + t3 * 115.21946F) + 63.3836441F;
+            ((L0 * 124.852882F - t2 * 253.387085F) + t3 * 193.295883F) + 55.7350769F;
-    K_temp[10] =
+    K_temp[10] = ((L0 * -6.44499636F + t2 * 5.48124027F) - t3 * 0.516800761F) +
-            ((L0 * -4.06481314F + t2 * 2.58104968F) + t3 * 0.92904079F) + 4.43995333F;
+                 5.52106953F;
     K_temp[11] =
-            ((L0 * 4.27840805F + t2 * 2.30248642F) - t3 * 10.0091085F) + 3.51449132F;
+            ((L0 * 12.3147469F - t2 * 13.2560177F) + t3 * 1.4054811F) + 2.85080624F;
 
     //matlab赋值顺序不同
     for (int i = 0; i < 6; ++i) {

application/balance/balance.h

@@ -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:

application/balance/leg.cpp

@@ -153,3 +153,4 @@ float leg::calculate_FN(float MotionAccel_z,float theta,float theta_dot) {
 
 
 
+

application/balance/leg.h

@@ -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);

application/chassis/chassis.cpp

@@ -22,7 +22,7 @@
 #include "power_meter.h"
 #include "ins_task.h"
 
-#include "balance_old.h"
+#include "balance.h"
 #include "observer.h"
 
 #include "general_def.h"
@@ -31,12 +31,14 @@
 #include "arm_math.h"
 #include "vofa.h"
 #include "user_lib.h"
+#include "balance.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"
@@ -65,9 +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
 
-static LegInstance legInstance;
+balance balance_chassis;
-
-Balance_Control_t BalanceControl;
 
 BalanceObserver Observer;
 
@@ -75,29 +75,30 @@ PIDInstance Turn_Loop_PID , Roll_Loop_PID;
 
 Chassis_state_e ChassisState;
 
+
 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,
-        },
-        .motor_type = HT04,
-    };
-
-    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 = HT04,
+            .can_init_config = {.can_handle = &hcan2},
+
+    };
+    Motor_Init_Config_s wheel_motor_config = {
+            .controller_setting_init_config = {
+                    .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;
@@ -155,18 +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,
+                            .Improve = static_cast<PID_Improvement_e>(PID_Trapezoid_Intergral | PID_Integral_Limit |
-                            .Derivative_LPF_RC = 0.001f,//1/(2*PI*10),
+                                                                      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,
+                            .Improve = static_cast<PID_Improvement_e>(PID_Trapezoid_Intergral | PID_Integral_Limit |
-                            .Derivative_LPF_RC = 1/(2*PI*10),
+                                                                      PID_Derivative_On_Measurement |
+                                                                      PID_DerivativeFilter),
                             .IntegralLimit = 100,
+                            .Derivative_LPF_RC = 1/(2*PI*10),
                     },
                     .init_target_L0 = 0.15f,
                     .F_feedforward = 0,
@@ -176,16 +181,13 @@ void ChassisInit()
                     .Ki = 0,
                     .Kd = 3,
                     .MaxOut = 3,
-                    .Improve =  PID_Derivative_On_Measurement| PID_DerivativeFilter,
+                    .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);
-    Balance_Control_Init(&BalanceControl,balanceInitConfig);
+
     Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
     //转向环
     PID_Init_Config_s turn_pid_cfg = {
@@ -193,7 +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);
@@ -285,10 +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]);
+    balance_chassis.feedback_update(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);
 
     if( ChassisState == FAIL )
     {
@@ -369,27 +368,13 @@ void ChassisTask()
 
     float vofa_send_data[8];
 
-    BalanceControl.leg_right.target_L0 += chassis_cmd_recv.vy/5280 * 0.0003f;
+    static float L_target = 0;
-    BalanceControl.leg_right.target_L0 = float_constrain(BalanceControl.leg_right.target_L0,0.15f,0.30f);
+    L_target += chassis_cmd_recv.vy/5280 * 0.0003f;
-    BalanceControl.leg_right.target_phi0 = PI/2;
+    L_target = float_constrain(L_target,0.15f,0.30f);
 
-    BalanceControl.leg_left.target_L0 = BalanceControl.leg_right.target_L0;
+    balance_chassis.L_target_set(L_target);
-    BalanceControl.leg_left.target_L0 = float_constrain(BalanceControl.leg_left.target_L0,0.15f,0.30f);
-    BalanceControl.leg_left.target_phi0 = PI/2;
 
-
+    //vofa_justfloat_output(vofa_send_data,32,&huart1);
-    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);
 
     static float target_x = 0;
     static float target_yaw = 0;

application/chassis/chassis.h

@@ -13,6 +13,8 @@ void ChassisInit();
  */
 void ChassisTask();
 
+
+
 typedef enum
 {
     FAIL = 0,