抬升 前伸 速度位置双环 降低上层四个3508反馈频率至500HZ
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@ -124,25 +124,23 @@ static void update_ui_data() {
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}
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static void RemoteControlSet() {
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘运动
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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
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{
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_ZERO_FORCE;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP;
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} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘不动，伸缩
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{
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chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE;
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}
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if (switch_is_mid(rc_data[TEMP].rc.switch_left) && (switch_is_mid(rc_data[TEMP].rc.switch_right)))
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{
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to_stretch_cmd_send.ud -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l1;
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to_stretch_cmd_send.fb -= 0.0025f * (float) rc_data[TEMP].rc.rocker_r1;
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to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//0.0025f
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to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_r1;//0.0025f
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//伸缩限位待添加
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// if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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// if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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}
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// 左侧开关状态为[下],视觉模式
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if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
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@ -102,6 +102,7 @@ typedef enum
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{
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TO_STRETCH_ZERO_FORCE = 0, // 电流零输入
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TO_STRETCH_MODE, // 自由伸缩
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TO_STRETCH_KEEP, // 保持不动
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} to_stretch_mode_e;
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/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
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@ -18,6 +18,17 @@ static To_stretch_Upload_Data_s to_stretch_feedback_data; // 伸缩回传的反
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static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd;
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float gravity_feedforward = 3000;
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float l_protract = 0,r_protract = 0;
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float protract_x = 0; //前伸距离
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float l_lift = 0,r_lift = 0;
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float lift_z = 0; //抬升高度
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float ld_offset = 0,rd_offset = 0;
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float lu_offset = 0,ru_offset = 0;
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PIDInstance protract_position_loop;//前伸位置环
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PIDInstance lift_position_loop;//抬升位置环
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void To_stretchInit() {
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// 上下
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Motor_Init_Config_s ud_config = {
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@ -34,23 +45,24 @@ void To_stretchInit() {
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = 0,
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.Ki = 0,
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.Kp = 2,
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.Ki = 1,
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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 = 2500,
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.MaxOut = 20000,
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.MaxOut = 5000,
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},
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.current_feedforward_ptr = &gravity_feedforward,
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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 = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
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.outer_loop_type = SPEED_LOOP,//ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP,//SPEED_LOOP | ANGLE_LOOP,
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.feedforward_flag = CURRENT_FEEDFORWARD,
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},
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.motor_type = M3508,
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};
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// 前后
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Motor_Init_Config_s fb_config = {
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@ -59,50 +71,73 @@ void To_stretchInit() {
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.01f,
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.Kp = 10.0f,
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.Ki = 0,
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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 = 100,
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.MaxOut = 500,
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.MaxOut = 5000,
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},
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.speed_PID = {
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.Kp = 10,
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.Kp = 2,
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.Ki = 0,
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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 = 2500,
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.MaxOut = 20000,
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.MaxOut = 5000,
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},
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.other_angle_feedback_ptr = &protract_x,
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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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.angle_feedback_source = OTHER_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
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.outer_loop_type = SPEED_LOOP,
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.close_loop_type = SPEED_LOOP,
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},
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.motor_type = M3508,
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};
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// 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
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//上下
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ud_config.can_init_config.tx_id = 5;
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ud_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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ud_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_NORMAL;
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motor_lu = DJIMotorInit(&ud_config);
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ud_config.can_init_config.tx_id = 6;
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ud_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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ud_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE;
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motor_ru = DJIMotorInit(&ud_config);
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//前后
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fb_config.can_init_config.tx_id = 7;
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fb_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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fb_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_NORMAL;
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motor_ld = DJIMotorInit(&fb_config);
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fb_config.can_init_config.tx_id = 8;
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fb_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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fb_config.controller_setting_init_config.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE;
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motor_rd = DJIMotorInit(&fb_config);
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PID_Init_Config_s protract_pid_config = {
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.Kp = 2500.0f,
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.Ki = 0,
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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 = 100,
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.MaxOut = 20000,
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};
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PIDInit(&protract_position_loop,&protract_pid_config);
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PID_Init_Config_s lift_pid_config = {
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.Kp = 2500.0f,
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.Ki = 0,
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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 = 100,
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.MaxOut = 20000,
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};
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PIDInit(&lift_position_loop,&lift_pid_config);
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to_stretch_sub = SubRegister("to_stretch_cmd", sizeof(To_stretch_Ctrl_Cmd_s));
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to_stretch_pub = PubRegister("to_stretch_feed", sizeof(To_stretch_Upload_Data_s));
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@ -111,9 +146,31 @@ void To_stretchInit() {
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/* 机器人伸缩控制核心任务 */
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void To_stretchTask()
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{
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static uint8_t init_flag = FALSE;
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if(init_flag == FALSE)
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{
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ld_offset = motor_ld->measure.total_angle ;
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rd_offset = motor_rd->measure.total_angle ;
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lu_offset = motor_lu->measure.total_angle ;
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ru_offset = motor_ru->measure.total_angle ;
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init_flag = TRUE;
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}
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l_protract = -(motor_ld->measure.total_angle - ld_offset) / 19.0f * DEGREE_2_RAD * 20.0f; //单位mm
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r_protract = (motor_rd->measure.total_angle - rd_offset) / 19.0f * DEGREE_2_RAD * 20.0f;
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l_lift = (motor_lu->measure.total_angle - lu_offset) / 19.0f * DEGREE_2_RAD * 20.0f; //单位mm
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r_lift = -(motor_ru->measure.total_angle - ru_offset) / 19.0f * DEGREE_2_RAD * 20.0f;
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protract_x = (l_protract+r_protract)/2;
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lift_z = (l_lift+r_lift)/2;
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SubGetMessage(to_stretch_sub, &to_stretch_cmd_recv);
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float fb_speed_set = PIDCalculate(&protract_position_loop,protract_x,to_stretch_cmd_recv.fb);
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float ud_speed_set = PIDCalculate(&lift_position_loop,lift_z,to_stretch_cmd_recv.ud);
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if (to_stretch_cmd_recv.to_stretch_mode == TO_STRETCH_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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DJIMotorStop(motor_lu);
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@ -129,7 +186,7 @@ void To_stretchTask()
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DJIMotorEnable(motor_rd);
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}
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// 根据控制模式设定旋转速度
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// 根据模式设定运动形式
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switch (to_stretch_cmd_recv.to_stretch_mode)
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{
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case TO_STRETCH_ZERO_FORCE:
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@ -144,10 +201,18 @@ void To_stretchTask()
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DJIMotorEnable(motor_ld);
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DJIMotorEnable(motor_rd);
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DJIMotorSetRef(motor_lu, to_stretch_cmd_recv.ud);
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DJIMotorSetRef(motor_ru, to_stretch_cmd_recv.ud);
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DJIMotorSetRef(motor_ld, to_stretch_cmd_recv.fb);
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DJIMotorSetRef(motor_rd, to_stretch_cmd_recv.fb);
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// DJIMotorSetRef(motor_ld, 1000);
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// DJIMotorSetRef(motor_ld, 1000);
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DJIMotorSetRef(motor_lu, ud_speed_set);
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DJIMotorSetRef(motor_ru, -ud_speed_set);
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DJIMotorSetRef(motor_ld, -fb_speed_set);
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DJIMotorSetRef(motor_rd, fb_speed_set);
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break;
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case TO_STRETCH_KEEP:
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DJIMotorEnable(motor_lu);
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DJIMotorEnable(motor_ru);
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DJIMotorEnable(motor_ld);
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DJIMotorEnable(motor_rd);
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break;
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default:
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break;
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@ -33,6 +33,8 @@ void OnProjectLoad (void) {
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//
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// User settings
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//
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Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ);
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Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
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File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf");
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}
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@ -1,26 +1,35 @@
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OpenDocument="stm32f4xx_it.c", FilePath="D:/zhandui/cqdm/engineering/Src/stm32f4xx_it.c", Line=103
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OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/engineering/Startup/startup_stm32f407ighx.s", Line=47
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OpenDocument="SEGGER_RTT_printf.c", FilePath="D:/zhandui/cqdm/engineering/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c", Line=187
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OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/engineering/application/chassis/chassis.c", Line=94
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OpenDocument="main.c", FilePath="D:/zhandui/cqdm/engineering/Src/main.c", Line=71
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GraphedExpression="(lift_position_loop).Ref", Color=#e56a6f
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GraphedExpression="(lift_position_loop).Measure", Color=#35792b
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GraphedExpression="(lift_position_loop).Output", Color=#769dda
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OpenDocument="main.c", FilePath="D:/CLion/Project/engineering/Src/main.c", Line=69
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OpenDocument="to_stretch.c", FilePath="D:/CLion/Project/engineering/application/to_stretch/to_stretch.c", Line=0
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OpenDocument="tasks.c", FilePath="D:/CLion/Project/engineering/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3399
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OpenDocument="startup_stm32f407ighx.s", FilePath="D:/CLion/Project/engineering/Startup/startup_stm32f407ighx.s", Line=51
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OpenDocument="arm_mat_mult_f32.c", FilePath="C:/Users/clamar01/fork3/CMSIS_5/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c", Line=0
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OpenToolbar="Debug", Floating=0, x=0, y=0
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OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=649, h=297, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=935, h=233, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=546, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
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OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=649, h=739, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1434, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=291, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
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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"
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OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=286, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=603, h=208, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=398, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
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OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=603, h=470, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1046, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=264, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
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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"
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OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=209, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
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TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950]
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TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
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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]
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TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;770]
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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]
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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]
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TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
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TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;226;104;100]
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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]
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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
|
||||
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
|
||||
|
|
@ -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);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue