TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

15
modules/motor/DJImotor/dji_motor.c
View File

@@ -124,7 +124,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
// 这里对can instance的id进行了强制转换,从而获得电机的instance实例地址
// _instance指针指向的id是对应电机instance的地址,通过强制转换为电机instance的指针,再通过->运算符访问电机的成员motor_measure,最后取地址获得指针
uint8_t *rxbuff = _instance->rx_buff;
DJI_Motor_Measure_s *measure = &(((DJIMotorInstance *)_instance->id)->motor_measure); // measure要多次使用,保存指针减小访存开销
DJI_Motor_Measure_s *measure = &(((DJIMotorInstance *)_instance->id)->measure); // measure要多次使用,保存指针减小访存开销
// 解析数据并对电流和速度进行滤波,电机的反馈报文具体格式见电机说明手册
measure->last_ecd = measure->ecd;
@@ -223,7 +223,7 @@ void DJIMotorControl()
DJIMotorInstance *motor;
Motor_Control_Setting_s *motor_setting; // 电机控制参数
Motor_Controller_s *motor_controller; // 电机控制器
DJI_Motor_Measure_s *motor_measure; // 电机测量值
DJI_Motor_Measure_s *measure; // 电机测量值
float pid_measure, pid_ref; // 电机PID测量值和设定值
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
@@ -232,10 +232,10 @@ void DJIMotorControl()
motor = dji_motor_instance[i];
motor_setting = &motor->motor_settings;
motor_controller = &motor->motor_controller;
motor_measure = &motor->motor_measure;
measure = &motor->measure;
pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改
if (motor_setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref*= -1; // 设置反转
pid_ref *= -1; // 设置反转
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
@@ -243,7 +243,7 @@ void DJIMotorControl()
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
else
pid_measure = motor_measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
@@ -254,7 +254,7 @@ void DJIMotorControl()
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else // MOTOR_FEED
pid_measure = motor_measure->speed_aps;
pid_measure = measure->speed_aps;
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
@@ -262,12 +262,11 @@ void DJIMotorControl()
// 计算电流环,目前只要启用了电流环就计算,不管外层闭环是什么,并且电流只有电机自身传感器的反馈
if (motor_setting->close_loop_type & CURRENT_LOOP)
{
pid_ref = PIDCalculate(&motor_controller->current_PID, motor_measure->real_current, pid_ref);
pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
}
// 获取最终输出
set = (int16_t)pid_ref;
// 分组填入发送数据
group = motor->sender_group;

2
modules/motor/DJImotor/dji_motor.h
View File

@@ -49,7 +49,7 @@ typedef struct
typedef struct
{
DJI_Motor_Measure_s motor_measure; // 电机测量值
DJI_Motor_Measure_s measure; // 电机测量值
Motor_Control_Setting_s motor_settings; // 电机设置
Motor_Controller_s motor_controller; // 电机控制器