497 lines
20 KiB
C
497 lines
20 KiB
C
/**
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* @file chassis.c
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* @author NeoZeng neozng1@hnu.edu.cn
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* @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
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* 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
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*
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* @version 0.1
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* @date 2022-12-04
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "chassis.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "HT04.h"
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#include "LK9025.h"
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#include "super_cap.h"
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#include "message_center.h"
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#include "referee_task.h"
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#include "power_meter.h"
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#include "ins_task.h"
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#include "balance_old.h"
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#include "observer.h"
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#include "estimator.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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#include "referee_UI.h"
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#include "arm_math.h"
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#include "vofa.h"
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#include "user_lib.h"
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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) // 半轴距
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#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f) // 半轮距
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#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI) // 轮子周长
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/* 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 */
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#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
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#include "can_comm.h"
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#include "ins_task.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
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INS_t *Chassis_IMU_data;
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD
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static Publisher_t *chassis_pub; // 用于发布底盘的数据
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static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令
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INS_t *Chassis_IMU_data;
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#endif // !ONE_BOARD
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
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static referee_info_t* referee_data; // 用于获取裁判系统的数据
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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
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static SuperCapInstance *cap; // 超级电容
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static PowerMeterInstance *power_meter; //功率计
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static HTMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
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static LKMotorInstance *wheel_motor_r,*wheel_motor_l;
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/* 用于自旋变速策略的时间变量 */
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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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static LegInstance legInstance;
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Balance_Control_t BalanceControl;
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BalanceObserver Observer;
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PIDInstance Turn_Loop_PID , Roll_Loop_PID;
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Chassis_state_e ChassisState;
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void ChassisInit()
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{
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// 四个关节电机的参数,改tx_id和反转标志位即可
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Motor_Init_Config_s chassis_motor_config = {
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.can_init_config.can_handle = &hcan2,
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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 = OPEN_LOOP,
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.close_loop_type = OPEN_LOOP,//| CURRENT_LOOP,
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},
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.motor_type = HT04,
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};
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Motor_Init_Config_s wheel_motor_config = {
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.can_init_config.can_handle = &hcan1,
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.controller_param_init_config ={
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.speed_PID = {
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.Kp = -100, // 50
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.Ki = 0, // 200
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.Kd = 0,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 3000,
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.MaxOut = 20000,
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},
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},
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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 = OPEN_LOOP,
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.close_loop_type = OPEN_LOOP,
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},
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.motor_type = LK9025,
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};
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// @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.
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chassis_motor_config.can_init_config.tx_id = 1;
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//chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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motor_rf = HTMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 2;
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//chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rb = HTMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 3;
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//chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_lf = HTMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 4;
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//chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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motor_lb = HTMotorInit(&chassis_motor_config);
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//@todo:瓴控驱动代码有些问题 1号电机必须先初始化
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wheel_motor_config.can_init_config.tx_id = 1;
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wheel_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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wheel_motor_r = LKMotorInit(&wheel_motor_config);
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wheel_motor_config.can_init_config.tx_id = 2;
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wheel_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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wheel_motor_l = LKMotorInit(&wheel_motor_config);
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referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x302, // 超级电容默认接收id
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.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
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}};
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cap = SuperCapInit(&cap_conf); // 超级电容初始化
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PowerMeter_Init_Config_s power_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.rx_id = 0x212,
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}
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};
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//功率計初始化
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power_meter = PowerMeterInit(&power_conf);
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Balance_Init_config_s balanceInitConfig = {
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.legInitConfig = {
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.length_PID_conf = {
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.Kp = 500,//180 ,//50,
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.Ki = 100,//5,
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.Kd = 20,//10,//6,//6,
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.MaxOut = 100,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.001f,//1/(2*PI*10),
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.IntegralLimit = 100,
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},
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.phi0_PID_conf = {
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.Kp = 80,
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.Ki = 0,
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.Kd = 5,
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.MaxOut = 5,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement| PID_DerivativeFilter,
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.Derivative_LPF_RC = 1/(2*PI*10),
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.IntegralLimit = 100,
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},
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.init_target_L0 = 0.15f,
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.F_feedforward = 0,
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},
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.leg_cor_PID_config = {
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.Kp = 25.0f,//25,//25,
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.Ki = 0,
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.Kd = 3.0f,//3,
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.MaxOut = 3,
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.Improve = PID_Derivative_On_Measurement| PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.01f,
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},
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.LQR_state_num = 6,
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.LQR_control_num = 2,
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};
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//Leg_Init(&legInstance,&leg_r_init_conf);
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Balance_Control_Init(&BalanceControl,balanceInitConfig);
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Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
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//转向环
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PID_Init_Config_s turn_pid_cfg = {
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.Kp = 10.0f,//10.0f,//1,
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.Ki = 0,
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.Kd = 0.0f,
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.MaxOut = 2,
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.Improve = PID_Derivative_On_Measurement|PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.001f
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};
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PIDInit(&Turn_Loop_PID,&turn_pid_cfg);
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//Roll轴平衡
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PID_Init_Config_s roll_pid_cfg = {
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.Kp = 8.0f,
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.Ki = 0,
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.Kd = 0.5f,
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.MaxOut = 100,
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.Improve = PID_Derivative_On_Measurement,
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};
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PIDInit(&Roll_Loop_PID,&roll_pid_cfg);
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Observer_Init(&Observer);
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// 发布订阅初始化,如果为双板,则需要can comm来传递消息
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#ifdef CHASSIS_BOARD
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Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x311,
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.rx_id = 0x312,
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},
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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.send_data_len = sizeof(Chassis_Upload_Data_s),
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};
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chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
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#endif // CHASSIS_BOARD
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#ifdef ONE_BOARD // 单板控制整车,则通过pubsub来传递消息
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chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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}
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/**
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* @brief 获取数据并计算状态量
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*
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*/
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static void Chassis_State_update()
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{
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float leg_phi[4]={0};
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float leg_phi_dot[4] = {0};
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leg_phi[0] = PI-(motor_rf->measure.total_angle - 0.119031f);
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leg_phi[1] = -(motor_rb->measure.total_angle + 0.119031f);
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leg_phi[2] = PI-(-motor_lf->measure.total_angle - 0.119031f);
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leg_phi[3] = -(-motor_lb->measure.total_angle + 0.119031f);
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//最高点上电
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// leg_phi[0] = PI-(motor_rf->measure.total_angle + 0.81007f);
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// leg_phi[1] = -(motor_rb->measure.total_angle - 0.81007f);
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// leg_phi[2] = PI-(-motor_lf->measure.total_angle + 0.81007f);
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// leg_phi[3] = -(-motor_lb->measure.total_angle - 0.81007f);
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leg_phi_dot[0] = -motor_rf->measure.speed_rads;
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leg_phi_dot[1] = -motor_rb->measure.speed_rads;
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leg_phi_dot[2] = motor_lf->measure.speed_rads;
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leg_phi_dot[3] = motor_lb->measure.speed_rads;
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float body_phi = Chassis_IMU_data->Pitch * DEGREE_2_RAD;
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float body_phi_dot = Chassis_IMU_data->Gyro[X];
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//陀螺仪积分获取位移和速度
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static uint32_t integral_cnt = 0;
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static float imu_v,imu_x;
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float integral_dt = DWT_GetDeltaT(&integral_cnt);
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if(fabsf(Chassis_IMU_data->MotionAccel_n[X])>=0.02)
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{
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imu_v += Chassis_IMU_data->MotionAccel_n[X] * integral_dt;
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}
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imu_x += imu_v * integral_dt;
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//float theta_dot1 = (balanceControl->state[0] - theta) / dot_dt;
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static float left_offset = 0;
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static float right_offset = 0;
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//倒地需要清零总位移数据
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if(chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
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{
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left_offset = wheel_motor_l->measure.total_angle;
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right_offset = wheel_motor_r->measure.total_angle;
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}
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float x_l = wheel_motor_l->measure.total_angle - left_offset;
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float x_r = wheel_motor_r->measure.total_angle - right_offset;
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//驱动轮位移与速度
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// float total_angle = (- wheel_motor_r->measure.total_angle + wheel_motor_l->measure.total_angle)/2;
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// float x = (total_angle * DEGREE_2_RAD ) * RADIUS_WHEEL;
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// float speed = (- wheel_motor_r->measure.speed_rads + wheel_motor_l->measure.speed_rads)/2;
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// float x_dot = speed * RADIUS_WHEEL;
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float total_angle = (- x_r + x_l)/2;
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float x = (total_angle * DEGREE_2_RAD ) * RADIUS_WHEEL;
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float speed = (- wheel_motor_r->measure.speed_rads + wheel_motor_l->measure.speed_rads)/2;
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float x_dot = speed * RADIUS_WHEEL;
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// Leg_feedback_update(&BalanceControl.leg_right,motor_rf->measure.real_current / HT_CMD_COEF,motor_rb->measure.real_current / HT_CMD_COEF);
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// Leg_feedback_update(&BalanceControl.leg_left,motor_lf->measure.real_current / HT_CMD_COEF,motor_lb->measure.real_current / HT_CMD_COEF);
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Balance_feedback_update(&BalanceControl,leg_phi,leg_phi_dot,body_phi,body_phi_dot,x,x_dot,Chassis_IMU_data->MotionAccel_n);
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if( ChassisState == FAIL )
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{
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if(abs(body_phi) <= 0.05 && abs(body_phi) <= 0.005 )
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ChassisState = STAND;
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}
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}
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/* 机器人底盘控制核心任务 */
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void ChassisTask()
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{
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// 后续增加没收到消息的处理(双板的情况)
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// 获取新的控制信息
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#ifdef ONE_BOARD
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SubGetMessage(chassis_sub, &chassis_cmd_recv);
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#endif
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#ifdef CHASSIS_BOARD
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chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chasiss_can_comm);
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#endif // CHASSIS_BOARD
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if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
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{ // 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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HTMotorStop(motor_lf);
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HTMotorStop(motor_rf);
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HTMotorStop(motor_lb);
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HTMotorStop(motor_rb);
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LKMotorStop(wheel_motor_r);
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LKMotorStop(wheel_motor_l);
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//清除相关pid控制量
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PIDClear(&BalanceControl.leg_length_PID);
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PIDClear(&Turn_Loop_PID);
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PIDClear(&Roll_Loop_PID);
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PIDClear(&BalanceControl.leg_coordination_PID);
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//清除状态量
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state_clear(&BalanceControl);
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}
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else
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{ // 正常工作
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HTMotorEnable(motor_lf);
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HTMotorEnable(motor_rf);
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HTMotorEnable(motor_lb);
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HTMotorEnable(motor_rb);
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LKMotorEnable(wheel_motor_r);
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LKMotorEnable(wheel_motor_l);
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}
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static int8_t init_flag = FALSE;
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// 根据控制模式设定旋转速度
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switch (chassis_cmd_recv.chassis_mode)
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{
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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
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//chassis_cmd_recv.wz = 0;
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break;
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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
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//chassis_cmd_recv.wz = 1.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
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chassis_cmd_recv.wz = 0.01f * chassis_cmd_recv.offset_angle* abs(chassis_cmd_recv.offset_angle);
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break;
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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
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//chassis_cmd_recv.wz = 4000;
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chassis_cmd_recv.wz = 2.0f;
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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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static float sin_theta, cos_theta;
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// cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
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// sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
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sin_theta = 0; cos_theta = 1;
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chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
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chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
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// // 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;
|
||
|
||
//获取数据并计算状态量
|
||
Chassis_State_update();
|
||
|
||
float vofa_send_data[12];
|
||
|
||
// for(int i = 0; i<6;i++)
|
||
// vofa_send_data[i] = BalanceControl.state[i];
|
||
// for(int i = 0; i<6;i++)
|
||
// vofa_send_data[i+6] = BalanceControl.state_observer.Estimate_X[i];
|
||
vofa_justfloat_output(vofa_send_data,12*4,&huart1);
|
||
|
||
static float target_x = 0;
|
||
static float target_yaw = 0;
|
||
if(chassis_cmd_recv.chassis_mode != CHASSIS_ZERO_FORCE) // 右侧开关状态[下],底盘跟随云台
|
||
{
|
||
float Roll_pid_out = PIDCalculate(&Roll_Loop_PID,-Chassis_IMU_data->Roll,0);
|
||
//将roll轴自平衡PID输出直接叠加到前馈支持力上
|
||
BalanceControl.leg_right.F_feedforward = Roll_pid_out;
|
||
BalanceControl.leg_left.F_feedforward = -Roll_pid_out;
|
||
|
||
//target_x += chassis_cmd_recv.vx/5280 * 0.003f;
|
||
target_x_set(&BalanceControl,chassis_cmd_recv.vx/5280 * 0.003f);
|
||
target_L_set(&BalanceControl,chassis_cmd_recv.vy/5280 * 0.0003f);
|
||
Balance_Control_Loop(&BalanceControl);
|
||
|
||
static float wz_feedback;
|
||
wz_feedback = (1.0f - 0.75f) * wz_feedback + 0.75f * Chassis_IMU_data->Gyro[Z];
|
||
float turn_T = PIDCalculate(&Turn_Loop_PID,Chassis_IMU_data->Gyro[Z],chassis_cmd_recv.wz);
|
||
|
||
static float T,wheel_current_r,wheel_current_l;
|
||
|
||
T = BalanceControl.balance_LQR.control_vector[0];//float_constrain(BalanceControl.balance_LQR.control_vector[0],-4,4);
|
||
|
||
//T = (1.0f - 0.75f) * T + 0.75f * BalanceControl.balance_LQR.control_vector[0];//float_constrain(BalanceControl.balance_LQR.control_vector[0],-4,4);
|
||
|
||
// wheel_current_r = (1.0f - 0.75f) * wheel_current_r + 0.75f * (T+turn_T) * LK_TORQUE_2_CMD;//+turn_T
|
||
// wheel_current_l = (1.0f - 0.75f) * wheel_current_l + 0.75f * (T-turn_T) * LK_TORQUE_2_CMD;//-turn_T
|
||
|
||
wheel_current_r = (T+turn_T) * LK_TORQUE_2_CMD;
|
||
wheel_current_l = (T-turn_T) * LK_TORQUE_2_CMD;
|
||
|
||
float_constrain(wheel_current_r,-4000,4000);
|
||
float_constrain(wheel_current_l,-4000,4000);
|
||
|
||
// if (ChassisState == FAIL) // 倒地 未起身
|
||
// {
|
||
// HTMotorSetRef(motor_rf,0);
|
||
// HTMotorSetRef(motor_rb,0);
|
||
//
|
||
// HTMotorSetRef(motor_lf,0);
|
||
// HTMotorSetRef(motor_lb,0);
|
||
//
|
||
// PIDClear(&BalanceControl.leg_length_PID);
|
||
// PIDClear(&Turn_Loop_PID);
|
||
// PIDClear(&Roll_Loop_PID);
|
||
// PIDClear(&BalanceControl.leg_coordination_PID);
|
||
// }
|
||
// else
|
||
{
|
||
HTMotorSetRef(motor_rf,-BalanceControl.leg_right.legOutput.T1 * HT_CMD_COEF);
|
||
HTMotorSetRef(motor_rb,-BalanceControl.leg_right.legOutput.T2 * HT_CMD_COEF);
|
||
|
||
HTMotorSetRef(motor_lf,BalanceControl.leg_left.legOutput.T1 * HT_CMD_COEF);
|
||
HTMotorSetRef(motor_lb,BalanceControl.leg_left.legOutput.T2 * HT_CMD_COEF);
|
||
// HTMotorSetRef(motor_rf,0);
|
||
// HTMotorSetRef(motor_rb,0);
|
||
//
|
||
// HTMotorSetRef(motor_lf,0);
|
||
// HTMotorSetRef(motor_lb,0);
|
||
}
|
||
|
||
LKMotorSetRef(wheel_motor_r,wheel_current_r);
|
||
LKMotorSetRef(wheel_motor_l,wheel_current_l);
|
||
// LKMotorSetRef(wheel_motor_r,0);
|
||
// LKMotorSetRef(wheel_motor_l,0);
|
||
|
||
// Observer_Estimate(&Observer,BalanceControl.state,BalanceControl.balance_LQR.control_vector, BalanceControl.leg_right.legState.L0);
|
||
// 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);
|
||
}
|
||
else{
|
||
PIDClear(&BalanceControl.leg_length_PID);
|
||
PIDClear(&Turn_Loop_PID);
|
||
PIDClear(&Roll_Loop_PID);
|
||
PIDClear(&BalanceControl.leg_coordination_PID);
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
// 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
|
||
} |