TuxMonkey/bf_original_balance_chassis
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简化了电机测量的命名,完成初版平衡底盘的功能编写,待测试方向和符号的正确性

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This commit is contained in:
NeoZng
2023-04-14 22:26:33 +08:00
parent 9e364cbaaa
commit 1818edf117
14 changed files with 215 additions and 162 deletions
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45
application/chassis/chassis.c
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@@ -43,18 +43,14 @@ attitude_t *Chassis_IMU_data;
#ifdef ONE_BOARD
static Publisher_t *chassis_pub; // 用于发布底盘的数据
static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令
#endif // !ONE_BOARD
#endif // !ONE_BOARD
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
// static referee_info_t *referee_data; // 裁判系统相关数据
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf; // left right forward back
static DJIMotorInstance *motor_rf;
static DJIMotorInstance *motor_lb;
static DJIMotorInstance *motor_rb;
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
/* 用于自旋变速策略的时间变量,后续考虑查表加速 */
/* 用于自旋变速策略的时间变量 */
// static float t;
/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
@@ -68,19 +64,19 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp = 10,//4.5
.Ki = 0,//0
.Kd = 0,//0
.Kp = 10, // 4.5
.Ki = 0, // 0
.Kd = 0, // 0
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 12000,
},
.current_PID = {
.Kp = 0.5,//0.4
.Ki = 0,//0
.Kp = 0.5, // 0.4
.Ki = 0, // 0
.Kd = 0,
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 15000,
},
},
@@ -114,7 +110,6 @@ void ChassisInit()
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);
SuperCap_Init_Config_s cap_conf = {
.can_config = {
.can_handle = &hcan2,
@@ -145,10 +140,10 @@ void ChassisInit()
#endif // ONE_BOARD
}
#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
/**
* @brief 计算每个轮毂电机的输出,正运动学解算
* 用宏进行预替换减小开销,运动解算具体过程参考教程
@@ -157,7 +152,7 @@ static void MecanumCalculate()
{
vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
vt_lb = chassis_vx - chassis_vy -chassis_cmd_recv.wz * LB_CENTER;
vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
}
@@ -224,10 +219,10 @@ void ChassisTask()
chassis_cmd_recv.wz = 0;
break;
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = -1.5*chassis_cmd_recv.offset_angle*abs(chassis_cmd_recv.offset_angle);
chassis_cmd_recv.wz = -1.5 * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz=4000;
chassis_cmd_recv.wz = 4000;
break;
default:
break;
@@ -236,8 +231,8 @@ void ChassisTask()
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
static float sin_theta, cos_theta;
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD);
sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * ANGLE_2_RAD);
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;