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云台跟随，连续发射

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chenfu
2024-05-20 22:22:24 +08:00
parent 4f80821435
commit 0c0d1201ea
12 changed files with 658 additions and 193 deletions
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157
application/gimbal/gimbal.c
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@@ -4,16 +4,169 @@
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"
#include "buzzer.h"
#include "bmi088.h"
static INS_t *gimba_IMU_data; // 云台IMU数据
static DJIMotorInstance *yaw_motor, *pitch_motor;
static Publisher_t *gimbal_pub; // 云台应用消息发布者(云台反馈给cmd)
static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit()
{
{
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
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 4,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.5, //0.55
.Ki = 0.0,//0.05
.Kd = 0.0,//0.02
.CoefA =0.0,//0.5
.CoefB = 0.0,//0.6
.Output_LPF_RC = 0,
.DeadBand = 0.0,//0.02
.Derivative_LPF_RC=0.0,//0.008
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
.IntegralLimit = 0.0,
.MaxOut = 400,
},
.speed_PID = {
.Kp = 15000,//22000
.Ki = 0,//
.Kd =0,
// .CoefA = 0.8,
// .CoefB = 0.1,
.Output_LPF_RC = 0.0,//0.002
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 0,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr=&gimba_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedforward_flag = SPEED_FEEDFORWARD,
},
.motor_type = GM6020};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
.Kp =0.4,//0.4
.Ki = 0.0,//0.15
.Kd = 0.0,//0.006
.CoefA = 0.0,//0.5
.CoefB = 0.0,//0.6
.DeadBand = 0.0,//0.005
.Output_LPF_RC = 0.0,//0.01
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit| PID_OutputFilter|PID_DerivativeFilter,
.IntegralLimit =1,//1
.MaxOut = 600,//600
},
.speed_PID = {
.Kp=10000,//14000
.Ki =0,//0
.Kd =0.0,//0.0005
.CoefA =0,//1500
.CoefB =0,//2000
.Output_LPF_RC = 0.0,//0.005
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_OutputFilter,
.IntegralLimit =3000,//3000
.MaxOut = 20000,//20000
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedback_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
},
.motor_type = GM6020,
};
// 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
yaw_motor = DJIMotorInit(&yaw_config);
pitch_motor = DJIMotorInit(&pitch_config);
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
/* 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()
{
BuzzerOn();
// 获取云台控制数据
// 后续增加未收到数据的处理
SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
// @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
// 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
switch (gimbal_cmd_recv.gimbal_mode)
{
// 停止
case GIMBAL_ZERO_FORCE:
DJIMotorStop(yaw_motor);
DJIMotorStop(pitch_motor);
break;
// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
case GIMBAL_GYRO_MODE: // 后续只保留此模式
// DJIMotorSetFeedfoward(yaw_motor,SPEED_FEEDFORWARD);
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
break;
// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
break;
default:
break;
}
// 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ...
// 设置反馈数据,主要是imu和yaw的ecd
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
// 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
}