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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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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33
application/gimbal/gimbal.c
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@@ -7,16 +7,15 @@
#include "bmi088.h"
static attitude_t *gimba_IMU_data; // 云台IMU数据
static DJIMotorInstance *yaw_motor; // yaw电机
static DJIMotorInstance *pitch_motor; // pitch电机
static attitude_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
BMI088Instance* imu;
BMI088Instance *imu;
void GimbalInit()
{
BMI088_Init_Config_s imu_config = {
@@ -54,7 +53,7 @@ void GimbalInit()
.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
.work_mode = BMI088_BLOCK_PERIODIC_MODE,
};
imu=BMI088Register(&imu_config);
imu = BMI088Register(&imu_config);
// 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 = {
@@ -64,26 +63,26 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 8, //8
.Kp = 8, // 8
.Ki = 0,
.Kd = 0,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 50,//50
.Ki = 200,//200
.Kp = 50, // 50
.Ki = 200, // 200
.Kd = 0,
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 3000,
.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],
.other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
@@ -109,11 +108,11 @@ void GimbalInit()
.MaxOut = 500,
},
.speed_PID = {
.Kp=50,//50
.Ki =350,//350
.Kd =0,//0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =2500,
.Kp = 50, // 50
.Ki = 350, // 350
.Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
@@ -185,7 +184,7 @@ void GimbalTask()
// 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->motor_measure.angle_single_round;
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);