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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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
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@@ -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;