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

修改部分参数

Browse Source
This commit is contained in:
kai
2024-03-25 18:02:13 +08:00
parent d5b5c254c4
commit 4542b0bfc3
3 changed files with 15 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
application/chassis/balance.c
View File

@@ -139,7 +139,7 @@ static void ControlSwitch()
// 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令 // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline()) if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
{ {
if (rc_data->rc.rocker_l1 < -600) if (switch_is_up(rc_data->rc.switch_left))
{ {
chassis_cmd_recv.chassis_mode = CHASSIS_RESET; chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
chassis_cmd_recv.vx = 0.05 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s chassis_cmd_recv.vx = 0.05 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
@@ -272,7 +272,7 @@ static void ParamAssemble()
static void LegControl() /* 腿长控制和Roll补偿 */ static void LegControl() /* 腿长控制和Roll补偿 */
{ {
static float gravity_comp = 54.54; static float gravity_comp = 57.63;
l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp; l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp;
r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp; r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp;
} }

2
application/chassis/balance.h
View File

@@ -5,7 +5,7 @@
#define THIGH_LEN 0.14f // 大腿 #define THIGH_LEN 0.14f // 大腿
#define JOINT_DISTANCE 0.11f // 关节间距 #define JOINT_DISTANCE 0.11f // 关节间距
#define WHEEL_RADIUS 0.075f // 轮子半径 #define WHEEL_RADIUS 0.075f // 轮子半径
#define LIMIT_LINK_RAD 0.205467224 // 初始限位角度,见ParamAssemble #define LIMIT_LINK_RAD 0.220039368 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0 #define BALANCE_GRAVITY_BIAS 0
#define ROLL_GRAVITY_BIAS 0 #define ROLL_GRAVITY_BIAS 0
#define MAX_ACC_REF 0.5f #define MAX_ACC_REF 0.5f

24
application/chassis/lqr_calc.h
View File

@@ -9,18 +9,18 @@
*/ */
static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis) static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
{ {
float k[12][3] = {85.842511,-168.176021,-4.383994, float k[12][3] = {85.365277,-164.978797,-4.643325,
-8.011354,-27.544550,0.946791, -7.817260,-26.353895,0.955791,
40.658824,-34.245857,-13.443024, 43.461413,-37.225135,-12.040913,
33.057883,-37.645803,-8.872245, 34.470271,-39.045724,-7.813613,
186.414265,-182.258244,59.110130, 171.639863,-172.946723,59.632812,
12.371459,-12.979501,4.575691, 11.281864,-11.926075,4.239721,
-2.044517,-13.973090,28.443243, -19.517972,1.032904,27.896023,
-8.073717,8.553946,2.899594, -10.715152,11.663766,2.651705,
109.977348,-109.218563,37.018016, 96.039929,-99.227575,36.121143,
67.432105,-68.632617,25.883284, 56.371947,-60.347262,25.166639,
-210.173934,175.310058,96.350481, -213.707672,181.799382,93.194337,
-15.827060,13.395116,3.049615}; -14.287060,12.217074,3.285836};
float T[2] = {0}; // 0 T_wheel 1 T_hip float T[2] = {0}; // 0 T_wheel 1 T_hip
float l = p->leg_len; float l = p->leg_len;
float lsqr = l * l; float lsqr = l * l;