TuxMonkey/bf_original_balance_chassis
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修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

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This commit is contained in:
chenfu
2023-03-22 16:37:12 +08:00
parent 3cf1831237
commit 58db6e5705
25 changed files with 231 additions and 145 deletions
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40
application/chassis/chassis.c
View File

@@ -62,16 +62,20 @@ void ChassisInit()
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 4000,
.Kp = 4.5,//9
.Ki = 0,//0.02
.Kd = 0.01,//0.01
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.MaxOut = 12000,
},
.current_PID = {
.Kp = 1,
.Ki = 0,
.Kp = 0.4,//0.7
.Ki = 0,//0.1
.Kd = 0,
.MaxOut = 4000,
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.MaxOut = 15000,
},
},
.controller_setting_init_config = {
@@ -83,20 +87,20 @@ void ChassisInit()
.motor_type = M3508,
};
// @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
chassis_motor_config.can_init_config.tx_id = 4;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.can_init_config.tx_id = 1;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_lf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 3,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.can_init_config.tx_id = 2;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 1,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.can_init_config.tx_id = 4;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_lb = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 2,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.can_init_config.tx_id = 3;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6); // 裁判系统初始化
@@ -143,7 +147,7 @@ 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;
}
@@ -210,10 +214,10 @@ 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 = 0.05f * powf(chassis_cmd_recv.wz, 2.0f);
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=sin(t)
chassis_cmd_recv.wz=4000;
break;
default:
break;

44
application/cmd/robot_cmd.c
View File

@@ -66,6 +66,7 @@ void RobotCMDInit()
};
cmd_can_comm = CANCommInit(&comm_conf);
#endif // GIMBAL_BOARD
gimbal_cmd_send.pitch = 0;
robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
}
@@ -97,6 +98,17 @@ static void CalcOffsetAngle()
#endif
}
static void OffsetAnglePidCalc()
{
// float pid_measure,pid_ref;
// static PIDInstance AngleCal = {
// .Kp = -1,
// .Ki = 0,
// .Kd = 0,
// .MaxOut = 10000,
// };
// chassis_cmd_send.offset_angle = PIDCalculate(&AngleCal,chassis_cmd_send.offset_angle,0);
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
@@ -105,9 +117,11 @@ static void RemoteControlSet()
{
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
{chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;}
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
{chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;}
// 云台参数,确定云台控制数据
if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式
@@ -118,14 +132,23 @@ static void RemoteControlSet()
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.switch_left) || vision_recv_data->target_state == NO_TARGET)
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.0015f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.002f * (float)rc_data[TEMP].rc.rocker_l1;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
// if (gimbal_cmd_send.pitch <= 122)
// {
// gimbal_cmd_send.pitch =125;
// }
// else if (gimbal_cmd_send.pitch >= 175)
// {
// gimbal_cmd_send.pitch = 174;
// }
}
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
//chassis_cmd_send.wz = 300;
// 发射参数
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
@@ -144,7 +167,7 @@ static void RemoteControlSet()
else
shoot_cmd_send.load_mode = LOAD_STOP;
// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
shoot_cmd_send.shoot_rate = 1;
shoot_cmd_send.shoot_rate = 8;
}
/**
@@ -173,6 +196,8 @@ static void EmergencyHandler()
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
}
// 遥控器右侧开关为[上],恢复正常运行
if (switch_is_up(rc_data[TEMP].rc.switch_right))
@@ -197,7 +222,6 @@ void RobotCMDTask()
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
CalcOffsetAngle();
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制
RemoteControlSet();
@@ -207,11 +231,11 @@ void RobotCMDTask()
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
// 设置视觉发送数据,还需增加加速度和角速度数据
vision_send_data.bullet_speed = chassis_fetch_data.bullet_speed;
vision_send_data.enemy_color = chassis_fetch_data.enemy_color;
vision_send_data.bullet_speed = 15;
vision_send_data.enemy_color = 0;
vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
vision_send_data.yaw = gimbal_fetch_data.gimbal_imu_data.Yaw;
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;;
// 推送消息,双板通信,视觉通信等
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置

66
application/gimbal/gimbal.c
View File

@@ -54,7 +54,7 @@ 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 = {
@@ -64,60 +64,68 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 20,
.Kp = 8, //8
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.DeadBand = 0.3,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kp = 50,//40
.Ki = 200,
.Kd = 0,
.MaxOut = 4000,
.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.wz;
.other_speed_feedback_ptr=&gimba_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.can_handle = &hcan2,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 30,
.Kp =10,//10
.Ki = 0,
.Kd = 0,
.MaxOut = 4000,
.DeadBand = 0.3,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 4000,
.Kp=50,//50
.Ki =350,//350
.Kd =0,//0.1
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =2500,
.MaxOut = 20000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 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.wy,
.other_speed_feedback_ptr=(&gimba_IMU_data->Gyro[0]),
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020,
};
@@ -145,7 +153,7 @@ void GimbalTask()
DJIMotorStop(pitch_motor);
break;
// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
case GIMBAL_GYRO_MODE: // 后续只保留此模式
case GIMBAL_GYRO_MODE: // 后续只保留此模式
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
@@ -159,10 +167,10 @@ void GimbalTask()
case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
break;

2
application/robot.c
View File

@@ -34,7 +34,7 @@ void RobotInit()
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisInit();
ChassisInit();
#endif
// 初始化完成,开启中断
__enable_irq();

14
application/robot_def.h
View File

@@ -34,21 +34,25 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 4000 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_CHASSIS_ALIGN_ECD 2711 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 0 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 0 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
#define NUM_PER_CIRCLE 1 // 拨盘一圈的装载量
#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量
// 机器人底盘修改的参数,单位为mm(毫米)
#define WHEEL_BASE 300 // 纵向轴距(前进后退方向)
#define WHEEL_BASE 350 // 纵向轴距(前进后退方向)
#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
#define RADIUS_WHEEL 60 // 轮子半径
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
#define GYRO2GIMBAL_DIR_YAW 1 //陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_PITCH 1 //陀螺仪数据相较于云台的pitch的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_ROLL 1 //陀螺仪数据相较于云台的roll的方向,1为相同,-1为相反
// 检查是否出现主控板定义冲突,只允许一个开发板定义存在,否则编译会自动报错
#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \

56
application/shoot/shoot.c
View File

@@ -25,20 +25,23 @@ void ShootInit()
Motor_Init_Config_s friction_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 6,
},
.controller_param_init_config = {
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kp = 0,//20
.Ki = 0,//1
.Kd = 0,
.MaxOut = 2000,
.Improve = PID_Integral_Limit,
.IntegralLimit = 10000,
.MaxOut = 15000,
},
.current_PID = {
.Kp = 1,
.Ki = 0,
.Kp = 0,//0.7
.Ki = 0,//0.1
.Kd = 0,
.MaxOut = 2000,
.Improve = PID_Integral_Limit,
.IntegralLimit = 10000,
.MaxOut = 15000,
},
},
.controller_setting_init_config = {
@@ -47,47 +50,52 @@ void ShootInit()
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
friction_config.can_init_config.tx_id = 1,
friction_l = DJIMotorInit(&friction_config);
friction_config.can_init_config.tx_id = 5; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行
friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
friction_r = DJIMotorInit(&friction_config);
// 拨盘电机
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan2,
.tx_id = 7,
.tx_id = 3,
},
.controller_param_init_config = {
.angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 10,
.Kp = 0,//10
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.speed_PID = {
.Kp = 1,
.Ki = 0,
.Kp = 0,//10
.Ki = 0,//1
.Kd = 0,
.MaxOut = 2000,
.Improve = PID_Integral_Limit,
.IntegralLimit = 5000,
.MaxOut = 5000,
},
.current_PID = {
.Kp = 1,
.Ki = 0,
.Kp = 0,//0.7
.Ki = 0,//0.1
.Kd = 0,
.MaxOut = 3000,
.Improve = PID_Integral_Limit,
.IntegralLimit = 5000,
.MaxOut = 5000,
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
.close_loop_type = CURRENT_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
},
.motor_type = M2006 // 英雄使用m3508
};
@@ -119,8 +127,8 @@ void ShootTask()
// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
// 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
if (hibernate_time + dead_time > DWT_GetTimeline_ms())
return;
// if (hibernate_time + dead_time > DWT_GetTimeline_ms())
// return;
// 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换
switch (shoot_cmd_recv.load_mode)
@@ -181,8 +189,8 @@ void ShootTask()
DJIMotorSetRef(friction_r, 0);
break;
default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
DJIMotorSetRef(friction_l, 1000);
DJIMotorSetRef(friction_r, 1000);
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
break;
}
}