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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7
modules/motor/LKmotor/LK9025.c
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@@ -1,5 +1,6 @@
#include "LK9025.h"
#include "stdlib.h"
#include "general_def.h"
static uint8_t idx;
static LKMotorInstance *lkmotor_instance[LK_MOTOR_MX_CNT] = {NULL};
@@ -23,8 +24,8 @@ static void LKMotorDecode(CANInstance *_instance)
measure->angle_single_round = ECD_ANGLE_COEF_LK * measure->ecd;
measure->speed_aps = (1 - SPEED_SMOOTH_COEF) * measure->speed_aps +
SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
measure->speed_rads = (1 - SPEED_SMOOTH_COEF) * measure->speed_rads +
DEGREE_2_RAD * SPEED_SMOOTH_COEF * (float)((int16_t)(rx_buff[5] << 8 | rx_buff[4]));
measure->real_current = (1 - CURRENT_SMOOTH_COEF) * measure->real_current +
CURRENT_SMOOTH_COEF * (float)((int16_t)(rx_buff[3] << 8 | rx_buff[2]));
@@ -101,7 +102,7 @@ void LKMotorControl()
if (setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor->other_speed_feedback_ptr;
else
pid_measure = measure->speed_aps;
pid_measure = measure->speed_rads;
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure, pid_ref);
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;

3
modules/motor/LKmotor/LK9025.h
View File

@@ -14,13 +14,14 @@
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.003645f // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值
typedef struct // 9025
{
uint16_t last_ecd; // 上一次读取的编码器值
uint16_t ecd; // 当前编码器值
float angle_single_round; // 单圈角度
float speed_aps; // speed angle per sec(degree:°)
float speed_rads; // speed rad/s
int16_t real_current; // 实际电流
uint8_t temperate; // 温度,C°