From 47689e75dc29f33cbd5b3f47f0fde2d09ad8d8cb Mon Sep 17 00:00:00 2001 From: HshineO <1491134420@qq.com> Date: Fri, 26 Apr 2024 17:35:17 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8A=AC=E5=8D=87=20=E5=89=8D=E4=BC=B8=20?= =?UTF-8?q?=E9=80=9F=E5=BA=A6=E4=BD=8D=E7=BD=AE=E5=8F=8C=E7=8E=AF=20=20?= =?UTF-8?q?=E9=99=8D=E4=BD=8E=E4=B8=8A=E5=B1=82=E5=9B=9B=E4=B8=AA3508?= =?UTF-8?q?=E5=8F=8D=E9=A6=88=E9=A2=91=E7=8E=87=E8=87=B3500HZ?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/cmd/robot_cmd.c | 10 +-- application/robot_def.h | 1 + application/to_stretch/to_stretch.c | 111 ++++++++++++++++++++++------ engineering.jdebug | 2 + engineering.jdebug.user | 49 +++++++----- modules/motor/DJImotor/dji_motor.c | 10 ++- 6 files changed, 132 insertions(+), 51 deletions(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 90cfa8e..e96c098 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -124,25 +124,23 @@ static void update_ui_data() { } static void RemoteControlSet() { - if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘运动 + 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_ZERO_FORCE; + to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP; } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘不动，伸缩 { chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE; } - if (switch_is_mid(rc_data[TEMP].rc.switch_left) && (switch_is_mid(rc_data[TEMP].rc.switch_right))) { - to_stretch_cmd_send.ud -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l1; - to_stretch_cmd_send.fb -= 0.0025f * (float) rc_data[TEMP].rc.rocker_r1; + to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//0.0025f + to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_r1;//0.0025f //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; - } // 左侧开关状态为[下],视觉模式 if (switch_is_down(rc_data[TEMP].rc.switch_left)) { diff --git a/application/robot_def.h b/application/robot_def.h index 0333c50..586aee6 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -102,6 +102,7 @@ typedef enum { TO_STRETCH_ZERO_FORCE = 0, // 电流零输入 TO_STRETCH_MODE, // 自由伸缩 + TO_STRETCH_KEEP, // 保持不动 } to_stretch_mode_e; /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */ diff --git a/application/to_stretch/to_stretch.c b/application/to_stretch/to_stretch.c index 5ea88fd..96f5016 100644 --- a/application/to_stretch/to_stretch.c +++ b/application/to_stretch/to_stretch.c @@ -18,6 +18,17 @@ static To_stretch_Upload_Data_s to_stretch_feedback_data; // 伸缩回传的反 static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd; +float gravity_feedforward = 3000; +float l_protract = 0,r_protract = 0; +float protract_x = 0; //前伸距离 +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; + +PIDInstance protract_position_loop;//前伸位置环 +PIDInstance lift_position_loop;//抬升位置环 + void To_stretchInit() { // 上下 Motor_Init_Config_s ud_config = { @@ -34,23 +45,24 @@ void To_stretchInit() { .MaxOut = 500, }, .speed_PID = { - .Kp = 0, - .Ki = 0, + .Kp = 2, + .Ki = 1, .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 2500, - .MaxOut = 20000, + .MaxOut = 5000, }, + .current_feedforward_ptr = &gravity_feedforward, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = ANGLE_LOOP, - .close_loop_type = SPEED_LOOP | ANGLE_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, - .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, + .outer_loop_type = SPEED_LOOP,//ANGLE_LOOP, + .close_loop_type = SPEED_LOOP,//SPEED_LOOP | ANGLE_LOOP, + .feedforward_flag = CURRENT_FEEDFORWARD, }, .motor_type = M3508, + }; // 前后 Motor_Init_Config_s fb_config = { @@ -59,50 +71,73 @@ void To_stretchInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 0.01f, + .Kp = 10.0f, .Ki = 0, .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, - .MaxOut = 500, + .MaxOut = 5000, }, .speed_PID = { - .Kp = 10, + .Kp = 2, .Ki = 0, .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 2500, - .MaxOut = 20000, + .MaxOut = 5000, }, + .other_angle_feedback_ptr = &protract_x, }, .controller_setting_init_config = { - .angle_feedback_source = MOTOR_FEED, + .angle_feedback_source = OTHER_FEED, .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = ANGLE_LOOP, - .close_loop_type = SPEED_LOOP | ANGLE_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, - .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, + .outer_loop_type = SPEED_LOOP, + .close_loop_type = SPEED_LOOP, }, .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; + ud_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_NORMAL; motor_lu = DJIMotorInit(&ud_config); ud_config.can_init_config.tx_id = 6; ud_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; + ud_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE; motor_ru = DJIMotorInit(&ud_config); - + //前后 fb_config.can_init_config.tx_id = 7; fb_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; + fb_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_NORMAL; motor_ld = DJIMotorInit(&fb_config); fb_config.can_init_config.tx_id = 8; fb_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; + fb_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE; motor_rd = DJIMotorInit(&fb_config); + PID_Init_Config_s protract_pid_config = { + .Kp = 2500.0f, + .Ki = 0, + .Kd = 0, + .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, + .IntegralLimit = 100, + .MaxOut = 20000, + }; + PIDInit(&protract_position_loop,&protract_pid_config); + + PID_Init_Config_s lift_pid_config = { + .Kp = 2500.0f, + .Ki = 0, + .Kd = 0, + .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, + .IntegralLimit = 100, + .MaxOut = 20000, + }; + PIDInit(&lift_position_loop,&lift_pid_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)); @@ -111,9 +146,31 @@ void To_stretchInit() { /* 机器人伸缩控制核心任务 */ void To_stretchTask() { + static uint8_t init_flag = FALSE; + if(init_flag == FALSE) + { + ld_offset = motor_ld->measure.total_angle ; + rd_offset = motor_rd->measure.total_angle ; + + lu_offset = motor_lu->measure.total_angle ; + ru_offset = motor_ru->measure.total_angle ; + + init_flag = TRUE; + } + l_protract = -(motor_ld->measure.total_angle - ld_offset) / 19.0f * DEGREE_2_RAD * 20.0f; //单位mm + r_protract = (motor_rd->measure.total_angle - rd_offset) / 19.0f * DEGREE_2_RAD * 20.0f; + + l_lift = (motor_lu->measure.total_angle - lu_offset) / 19.0f * DEGREE_2_RAD * 20.0f; //单位mm + r_lift = -(motor_ru->measure.total_angle - ru_offset) / 19.0f * DEGREE_2_RAD * 20.0f; + + protract_x = (l_protract+r_protract)/2; + lift_z = (l_lift+r_lift)/2; SubGetMessage(to_stretch_sub, &to_stretch_cmd_recv); + float fb_speed_set = PIDCalculate(&protract_position_loop,protract_x,to_stretch_cmd_recv.fb); + float ud_speed_set = PIDCalculate(&lift_position_loop,lift_z,to_stretch_cmd_recv.ud); + if (to_stretch_cmd_recv.to_stretch_mode == TO_STRETCH_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_lu); @@ -129,7 +186,7 @@ void To_stretchTask() DJIMotorEnable(motor_rd); } - // 根据控制模式设定旋转速度 + // 根据模式设定运动形式 switch (to_stretch_cmd_recv.to_stretch_mode) { case TO_STRETCH_ZERO_FORCE: @@ -144,10 +201,18 @@ void To_stretchTask() DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); - DJIMotorSetRef(motor_lu, to_stretch_cmd_recv.ud); - DJIMotorSetRef(motor_ru, to_stretch_cmd_recv.ud); - DJIMotorSetRef(motor_ld, to_stretch_cmd_recv.fb); - DJIMotorSetRef(motor_rd, to_stretch_cmd_recv.fb); +// 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); + DJIMotorSetRef(motor_rd, fb_speed_set); + break; + case TO_STRETCH_KEEP: + DJIMotorEnable(motor_lu); + DJIMotorEnable(motor_ru); + DJIMotorEnable(motor_ld); + DJIMotorEnable(motor_rd); break; default: break; diff --git a/engineering.jdebug b/engineering.jdebug index a194a93..708c732 100644 --- a/engineering.jdebug +++ b/engineering.jdebug @@ -33,6 +33,8 @@ void OnProjectLoad (void) { // // User settings // + Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ); + Project.SetOSPlugin ("FreeRTOSPlugin_CM4"); File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf"); } diff --git a/engineering.jdebug.user b/engineering.jdebug.user index aba6f0d..eedf644 100644 --- a/engineering.jdebug.user +++ b/engineering.jdebug.user @@ -1,26 +1,35 @@ -OpenDocument="stm32f4xx_it.c", FilePath="D:/zhandui/cqdm/engineering/Src/stm32f4xx_it.c", Line=103 -OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/engineering/Startup/startup_stm32f407ighx.s", Line=47 -OpenDocument="SEGGER_RTT_printf.c", FilePath="D:/zhandui/cqdm/engineering/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c", Line=187 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/engineering/application/chassis/chassis.c", Line=94 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/engineering/Src/main.c", Line=71 +GraphedExpression="(lift_position_loop).Ref", Color=#e56a6f +GraphedExpression="(lift_position_loop).Measure", Color=#35792b +GraphedExpression="(lift_position_loop).Output", Color=#769dda +OpenDocument="main.c", FilePath="D:/CLion/Project/engineering/Src/main.c", Line=69 +OpenDocument="to_stretch.c", FilePath="D:/CLion/Project/engineering/application/to_stretch/to_stretch.c", Line=0 +OpenDocument="tasks.c", FilePath="D:/CLion/Project/engineering/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3399 +OpenDocument="startup_stm32f407ighx.s", FilePath="D:/CLion/Project/engineering/Startup/startup_stm32f407ighx.s", Line=51 +OpenDocument="arm_mat_mult_f32.c", FilePath="C:/Users/clamar01/fork3/CMSIS_5/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=649, h=297, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=935, h=233, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=546, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=649, h=739, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1434, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=291, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=935, h=803, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="708;-69", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="717;-69", CodeGraphLegendShown=1, CodeGraphLegendPosition="659;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=286, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=603, h=208, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=398, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=603, h=470, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1046, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=264, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1011, h=679, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;472", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="717;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="238;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=209, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" -TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126] +TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;770] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (lift_position_loop).Ref";" (lift_position_loop).Measure";" (lift_position_loop).Output"], ColWidths=[100;100;100;100;100] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;118;118;110;110;100;118;110] TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] -TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;226;104;100] +TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] -TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;659] -WatchedExpression="motor_lf", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[257;124;104;100] +WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="motor_ld", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="motor_rd", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="gravity_feedforward", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="motor_lu", Window=Watched Data 1 +WatchedExpression="motor_ru", Window=Watched Data 1 +WatchedExpression="protract_position_loop", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="lift_position_loop", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index b2027cc..0895c0d 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -210,7 +210,7 @@ DJIMotorInstance *DJIMotorInit(Motor_Init_Config_s *config) { Daemon_Init_Config_s daemon_config = { .callback = DJIMotorLostCallback, .owner_id = instance, - .reload_count = 2, // 20ms未收到数据则丢失 + .reload_count = 100, // 20ms未收到数据则丢失 }; instance->daemon = DaemonRegister(&daemon_config); @@ -300,7 +300,13 @@ void DJIMotorControl() { if (motor_setting->speed_feedback_source == OTHER_FEED) pid_measure = *motor_controller->other_speed_feedback_ptr; else // MOTOR_FEED - pid_measure = measure->speed_aps; + { + if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE) + pid_measure = - measure->speed_aps; + else //NORMAL + pid_measure = measure->speed_aps; + } + // 更新pid_ref进入下一个环 pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref); }