增加了LK电机和HT电机的基本支持,待编写控制

modules/motor/HT04.h

@@ -7,36 +7,94 @@
 #include "motor_def.h"
 
 #define HT_MOTOR_CNT 4
+#define CURRENT_SMOOTH_COEF 0.9f
+#define SPEED_SMOOTH_COEF 0.85f
 
 #define P_MIN -95.5f // Radians
 #define P_MAX 95.5f
 #define V_MIN -45.0f // Rad/s
 #define V_MAX 45.0f
-#define T_MIN -18.0f
+#define T_MIN -18.0f // N·m
 #define T_MAX 18.0f
 
 typedef struct // HT04
-{
-    float last_ecd;
-    float ecd;
-    float speed_rpm;
+{              // 角度为多圈角度,范围是-95.5~95.5,单位为rad
+    float last_angle;
+    float total_angle;
+    float speed_aps;
     float real_current;
+} HTMotor_Measure_t;
+
+/* HT电机类型定义*/
+typedef struct
+{
+    HTMotor_Measure_t motor_measure;
+
+    Motor_Control_Setting_s motor_settings;
+
+    PIDInstance current_PID;
+    PIDInstance speed_PID;
+    PIDInstance angle_PID;
+    float *other_angle_feedback_ptr;
+    float *other_speed_feedback_ptr;
+    float pid_ref;
 
-    PIDInstance pid;
     CANInstance *motor_can_instace;
-} HKMotor_Measure_t;
+} HTMotorInstance;
 
+/* HT电机模式,初始化时自动进入CMD_MOTOR_MODE*/
 typedef enum
 {
-    CMD_MOTOR_MODE = 0xfc,
-    CMD_RESET_MODE = 0xfd,
-    CMD_ZERO_POSITION = 0xfe
-} joint_mode;
+    CMD_MOTOR_MODE = 0xfc,   // 使能,会响应指令
+    CMD_RESET_MODE = 0xfd,   // 停止
+    CMD_ZERO_POSITION = 0xfe // 将当前的位置设置为编码器零位
+} HTMotor_Mode_t;
 
-HKMotor_Measure_t *HTMotorInit(CAN_Init_Config_s config);
+/**
+ * @brief 
+ * 
+ * @param config 
+ * @return HTMotorInstance* 
+ */
+HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config);
 
-void JointControl(HKMotor_Measure_t *_instance, float current);
+/**
+ * @brief 设定电机的参考值
+ * 
+ * @param motor 要设定的电机
+ * @param current   设定值
+ */
+void HTMotorSetRef(HTMotorInstance *motor, float ref);
 
-void SetJointMode(joint_mode cmd, HKMotor_Measure_t *_instance);
+/**
+ * @brief 给所有的HT电机发送控制指令
+ * 
+ */
+void HTMotorControl();
+
+/**
+ * @brief 停止电机,之后电机不会响应HTMotorSetRef设定的值
+ * 
+ * @param motor 
+ */
+void HTMotorStop(HTMotorInstance *motor);
+
+/**
+ * @brief 启动电机
+ * 
+ * @param motor 要启动的电机
+ */
+void HTMotorEnable(HTMotorInstance *motor);
+
+/**
+ * @brief 校准电机编码器
+ * @attention 注意,校准时务必将电机和其他机构分离,电机会旋转360°!
+ *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
+ *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
+ *            注意,校准时务必将电机和其他机构分离,电机会旋转360°!
+ * 
+ * @param motor 
+ */
+void HTMotorCalibEncoder(HTMotorInstance *motor);
 
 #endif // !HT04_H#define HT04_H