zyx
/
engineering
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/master' 

# Conflicts:
#	application/cmd/robot_cmd.c
#	engineering.jdebug.user
This commit is contained in:
宋家齐 2024-05-10 14:40:17 +08:00
parent 98f7aa2272 04b3942c4d
commit 30ca291a68
8 changed files with 90 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
application/chassis/chassis.c
View File

@ -45,7 +45,7 @@ static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb;
float chassis_power = 0;
static first_order_filter_type_t vx_filter;
static first_order_filter_type_t vy_filter;
@ -111,7 +111,6 @@ void ChassisInit()
first_order_filter_init(&vy_filter,0.002f,&chassis_y_order_filter);
first_order_filter_init(&vx_filter,0.002f,&chassis_x_order_filter);
// 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

17
application/cmd/robot_cmd.c
View File

@ -116,6 +116,13 @@ static void CalcOffsetAngle() {
#endif
}
static void death_check()
{
if(referee_data->GameRobotState.remain_HP)
{
gimbal_cmd_send.MotorEnableFlag=5;
}
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
@ -128,7 +135,7 @@ static void update_ui_data() {
// 出招表
static void RemoteControlSet() {
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],底盘运动,伸缩保持不动
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘运动,伸缩保持不动
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP;
@ -137,8 +144,11 @@ static void RemoteControlSet() {
chassis_cmd_send.vx = 15.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 15.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
chassis_cmd_send.wz = -1.0f * (float) rc_data[TEMP].rc.rocker_l_; //旋转
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩
to_stretch_cmd_send.tc += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//图传
// 图传限位
if (to_stretch_cmd_send.tc >= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MAX_ANGLE;
if (to_stretch_cmd_send.tc <= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MIN_ANGLE;
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩运动
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE;
@ -149,6 +159,7 @@ static void RemoteControlSet() {
to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l_;//抬升
to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//前伸
//伸缩限位待添加
// if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
// if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;

12
application/gimbal/gimbal.cpp
View File

@ -253,12 +253,22 @@ void GimbalInit()
};
PIDInit(&diff_roll_spd_loop,&diff_roll_spd_config);
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
//static void DMMotroEnable()
//{
// if(gimbal_cmd_recv.MotorEnableFlag)
// {
// DMMotorSetMode(DM_CMD_MOTOR_MODE,yaw_motor);
// DMMotorSetMode(DM_CMD_MOTOR_MODE,pitch_motor);
// DMMotorSetMode(DM_CMD_MOTOR_MODE,roll_motor);
// DMMotorSetMode(DM_CMD_MOTOR_MODE,diff_r_motor );
// DMMotorSetMode(DM_CMD_MOTOR_MODE,diff_l_motor );
// }
//}
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()

8
application/robot.c
View File

@ -31,8 +31,8 @@ void RobotInit()
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDInit();
GimbalInit();
//To_stretchInit();
//GimbalInit();
To_stretchInit();
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
@ -49,8 +49,8 @@ void RobotTask()
{
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDTask();
GimbalTask();
//To_stretchTask();
//GimbalTask();
To_stretchTask();
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)

12
application/robot_def.h
View File

@ -35,15 +35,14 @@
#define YAW 60
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机position值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 1 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define TUCHUAN_MAX_ANGLE 180 // 图传电机最大角度
#define TUCHUAN_MIN_ANGLE 0 // 图传电机最小角度
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 1933.272 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#define REDUCTION_RATIO_LOADER 27.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49，增加为27
@ -148,13 +147,14 @@ typedef struct
float diff_pitch; //差速器pitch
float diff_roll; //差速器roll
float chassis_rotate_wz;
uint8_t MotorEnableFlag;
gimbal_mode_e gimbal_mode;
} Gimbal_Ctrl_Cmd_s;
// cmd发布的伸缩控制数据,由to_stretch订阅
typedef struct
{
float tc;
float ud;
float fb;
to_stretch_mode_e to_stretch_mode;
@ -190,7 +190,9 @@ typedef struct
typedef struct
{
float gravity_feedforward;
float protract_x; //前伸距离
float lift_z; //抬升高度
} To_stretch_Upload_Data_s;
#pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)

63
application/to_stretch/to_stretch.c
View File

@ -16,7 +16,7 @@ static Subscriber_t *to_stretch_sub; // 用于订阅伸缩的
static To_stretch_Ctrl_Cmd_s to_stretch_cmd_recv; // 伸缩接收到的控制命令
static To_stretch_Upload_Data_s to_stretch_feedback_data; // 伸缩回传的反馈数据
static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd;
static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd, *tuchuan;
float gravity_feedforward = 3000;
float l_protract = 0,r_protract = 0;
@ -25,6 +25,7 @@ float l_lift = 0,r_lift = 0;
float lift_z = 0; //抬升高度
float ld_offset = 0,rd_offset = 0;
float lu_offset = 0,ru_offset = 0;
float kp=4,ki=1,kd=0;//调试用
PIDInstance protract_position_loop;//前伸位置环
PIDInstance lift_position_loop;//抬升位置环
@ -45,24 +46,23 @@ void To_stretchInit() {
.MaxOut = 500,
},
.speed_PID = {
.Kp = 2,
.Kp = 4,
.Ki = 1,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500,
.MaxOut = 5000,
.MaxOut = 13000,
},
.current_feedforward_ptr = &gravity_feedforward,
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,//ANGLE_LOOP,
.close_loop_type = SPEED_LOOP,//SPEED_LOOP | ANGLE_LOOP,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP,
.feedforward_flag = CURRENT_FEEDFORWARD,
},
.motor_type = M3508,
};
// 前后
Motor_Init_Config_s fb_config = {
@ -96,7 +96,6 @@ void To_stretchInit() {
},
.motor_type = M3508,
};
// 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
//上下
ud_config.can_init_config.tx_id = 5;
ud_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
@ -124,7 +123,7 @@ void To_stretchInit() {
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 20000,
.MaxOut = 15000,
};
PIDInit(&protract_position_loop,&protract_pid_config);
@ -134,10 +133,43 @@ void To_stretchInit() {
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 20000,
.MaxOut = 15000,
};
PIDInit(&lift_position_loop,&lift_pid_config);
// 图传电机
Motor_Init_Config_s tuchuan_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 20,
.Ki = 10,
.Kd = 0,
.MaxOut = 5000,
},
.speed_PID = {
.Kp = 2.0f,
.Ki = 1.0f,
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 5000,
.MaxOut = 5000,
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M2006
};
tuchuan = DJIMotorInit(&tuchuan_config);
to_stretch_sub = SubRegister("to_stretch_cmd", sizeof(To_stretch_Ctrl_Cmd_s));
to_stretch_pub = PubRegister("to_stretch_feed", sizeof(To_stretch_Upload_Data_s));
@ -146,6 +178,10 @@ void To_stretchInit() {
/* 机器人伸缩控制核心任务 */
void To_stretchTask()
{
motor_lu->motor_controller.speed_PID.Kp=motor_ru->motor_controller.speed_PID.Kp=kp;
motor_lu->motor_controller.speed_PID.Ki=motor_ru->motor_controller.speed_PID.Ki=ki;
motor_lu->motor_controller.speed_PID.Kd=motor_ru->motor_controller.speed_PID.Kd=kd;
static uint8_t init_flag = FALSE;
if(init_flag == FALSE)
{
@ -177,6 +213,7 @@ void To_stretchTask()
DJIMotorStop(motor_ru);
DJIMotorStop(motor_ld);
DJIMotorStop(motor_rd);
DJIMotorStop(tuchuan);
}
else
{ // 正常工作
@ -184,9 +221,10 @@ void To_stretchTask()
DJIMotorEnable(motor_ru);
DJIMotorEnable(motor_ld);
DJIMotorEnable(motor_rd);
DJIMotorEnable(tuchuan);
}
// 根据模式设定运动形式
// 根据模式设定伸缩+图传运动形式
switch (to_stretch_cmd_recv.to_stretch_mode)
{
case TO_STRETCH_ZERO_FORCE:
@ -194,6 +232,7 @@ void To_stretchTask()
DJIMotorStop(motor_ru);
DJIMotorStop(motor_ld);
DJIMotorStop(motor_rd);
DJIMotorStop(tuchuan);
break;
case TO_STRETCH_MODE:
DJIMotorEnable(motor_lu);
@ -201,8 +240,6 @@ void To_stretchTask()
DJIMotorEnable(motor_ld);
DJIMotorEnable(motor_rd);
// DJIMotorSetRef(motor_ld, 1000);
// DJIMotorSetRef(motor_ld, 1000);
DJIMotorSetRef(motor_lu, ud_speed_set);
DJIMotorSetRef(motor_ru, -ud_speed_set);
DJIMotorSetRef(motor_ld, -fb_speed_set);
@ -213,6 +250,8 @@ void To_stretchTask()
DJIMotorEnable(motor_ru);
DJIMotorEnable(motor_ld);
DJIMotorEnable(motor_rd);
DJIMotorEnable(tuchuan);
DJIMotorSetRef(tuchuan, to_stretch_cmd_recv.tc);
break;
default:
break;

2
modules/motor/DMmotor/dmmotor.c
View File

@ -25,7 +25,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
}
static void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
{
memset(motor->motor_can_instance->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff
motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id

2
modules/motor/DMmotor/dmmotor.h
View File

@ -68,7 +68,7 @@ void DMMotorSetRef(DMMotorInstance *motor, float ref);
void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
void DMMotorEnable(DMMotorInstance *motor);
void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor);
void DMMotorStop(DMMotorInstance *motor);
void DMMotorCaliEncoder(DMMotorInstance *motor);
void DMMotorControlInit();