123 lines
2.5 KiB
C
123 lines
2.5 KiB
C
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#ifndef HT04_H
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#define HT04_H
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#include <stdint.h>
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#include "bsp_can.h"
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#include "controller.h"
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#include "motor_def.h"
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#include "daemon.h"
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#define HT_MOTOR_CNT 4
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#define CURRENT_SMOOTH_COEF 0.9f
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#define SPEED_BUFFER_SIZE 5
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#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s
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#define P_MIN -95.5f // Radians
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#define P_MAX 95.5f
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#define V_MIN -45.0f // Rad/s
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#define V_MAX 45.0f
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#define T_MIN -18.0f // N·m
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#define T_MAX 18.0f
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#define KP_MIN 0.0f // N-m/rad
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#define KP_MAX 500.0f
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#define KD_MIN 0.0f // N-m/rad/s
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#define KD_MAX 5.0f
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typedef struct // HT04
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{
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float total_angle; // 角度为多圈角度,范围是-95.5~95.5,单位为rad
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float last_angle;
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float speed_rads;
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float speed_buff[SPEED_BUFFER_SIZE];
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float real_current;
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float feed_dt;
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uint32_t feed_cnt;
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} HTMotor_Measure_t;
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/* HT电机类型定义*/
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typedef struct
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{
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HTMotor_Measure_t measure;
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Motor_Control_Setting_s motor_settings;
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PIDInstance current_PID;
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PIDInstance speed_PID;
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PIDInstance angle_PID;
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float *other_angle_feedback_ptr;
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float *other_speed_feedback_ptr;
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float *speed_feedforward_ptr;
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float *current_feedforward_ptr;
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float pid_ref;
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Motor_Working_Type_e stop_flag; // 启停标志
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CANInstance *motor_can_instace;
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DaemonInstance *motor_daemon;
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uint32_t lost_cnt;
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} HTMotorInstance;
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/* HT电机模式,初始化时自动进入CMD_MOTOR_MODE*/
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typedef enum
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{
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CMD_MOTOR_MODE = 0xfc, // 使能,会响应指令
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CMD_RESET_MODE = 0xfd, // 停止
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CMD_ZERO_POSITION = 0xfe // 将当前的位置设置为编码器零位
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} HTMotor_Mode_t;
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/**
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* @brief
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*
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* @param config
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* @return HTMotorInstance*
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*/
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HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config);
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/**
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* @brief 设定电机的参考值
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*
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* @param motor 要设定的电机
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* @param current 设定值
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*/
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void HTMotorSetRef(HTMotorInstance *motor, float ref);
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/**
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* @brief 初始化电机任务,若要使用,需要在motortask的死循环前调用
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*
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*/
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void HTMotorControlInit();
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/**
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* @brief 停止电机,之后电机不会响应HTMotorSetRef设定的值
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*
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* @param motor
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*/
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void HTMotorStop(HTMotorInstance *motor);
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/**
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* @brief 启动电机
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*
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* @param motor 要启动的电机
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*/
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void HTMotorEnable(HTMotorInstance *motor);
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/**
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* @brief 修改电机闭环对象
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*
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* @param motor
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* @param type
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*/
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void HTMotorOuterLoop(HTMotorInstance *motor, Closeloop_Type_e type);
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/**
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* @brief 将当前编码器位置置零
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*
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* @param motor
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*/
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void HTMotorCalibEncoder(HTMotorInstance *motor);
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#endif // !HT04_H#define HT04_H
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