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https://gitee.com/dlmu-cone/bf_original_balance_chassis
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balance init
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kai
225
application/chassis/balance.c
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225
application/chassis/balance.c
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// app
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#include "balance.h"
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#include "robot_def.h"
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#include "general_def.h"
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#include "ins_task.h"
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#include "HT04.h"
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#include "LK9025.h"
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#include "controller.h"
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#include "can_comm.h"
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#include "super_cap.h"
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#include "user_lib.h"
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#include "remote_control.h"
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#include "referee_task.h"
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#include "stdint.h"
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#include "arm_math.h" // 需要用到较多三角函数
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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static uint32_t balance_dwt_cnt;
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static float del_t;
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/* 底盘拥有的模块实例 */
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static attitude_t *imu_data;
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static RC_ctrl_t *rc_data; // 调试用
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static Referee_Interactive_info_t my_ui;
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static referee_info_t *referee_data;
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // syh
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static Chassis_Upload_Data_s chassis_feed;
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static CANCommInstance *ci;
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static SuperCapInstance *cap; // syh
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// 四个关节电机和两个驱动轮电机
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static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试
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static LKMotorInstance *l_driven, *r_driven, *driven[2];
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// 两个腿的参数,0为左腿,1为右腿
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static LinkNPodParam l_side, r_side; // syh phi5
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static ChassisParam chassis;
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// 综合运动补偿的PID控制器
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static PIDInstance steer_p_pid, steer_v_pid; // 转向PID,有转向指令时使用IMU的加速度反馈积分以获取速度和位置状态量
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static PIDInstance anti_crash_pid, phi5_pid; // 抗劈叉,将输出以相反的方向叠加到左右腿的上
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static PIDInstance leglen_pid_l, leglen_pid_r; // 用PD模拟弹簧,不要积分(弹簧是无积分二阶系统),增益不可过大否则抗外界冲击响应时太"硬"
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static PIDInstance legdot_pid_l, legdot_pid_r;
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static PIDInstance roll_compensate_pid, rolldot_pid; // roll轴补偿,用于保持机体水平
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static Robot_Status_e chassis_status;
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void BalanceInit()
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{
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referee_data = UITaskInit(&huart6, &my_ui);
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rc_data = RemoteControlInit(&huart3);
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CANComm_Init_Config_s commconf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x40,
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.rx_id = 0x41},
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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.send_data_len = sizeof(Chassis_Upload_Data_s)};
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ci = CANCommInit(&commconf);
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imu_data = INS_Init();
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x302, // todo 电容id
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.rx_id = 0x301}};
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cap = SuperCapInit(&cap_conf);
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Motor_Init_Config_s joint_conf = {
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// 写一个,剩下的修改方向和id即可
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.can_init_config = {
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.can_handle = &hcan1},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.3,
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.Kd = 0.1,
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.Ki = 0,
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.DeadBand = 0.0001,
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.Improve = PID_DerivativeFilter,
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.MaxOut = 4,
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.Derivative_LPF_RC = 0.05,
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}, // 仅用于复位腿
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},
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.controller_setting_init_config = {
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.close_loop_type = ANGLE_LOOP,
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.outer_loop_type = OPEN_LOOP,
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.motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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},
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.motor_type = HT04};
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joint_conf.can_init_config.tx_id = 4;
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joint_conf.can_init_config.rx_id = 14;
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joint[LF] = lf = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 3;
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joint_conf.can_init_config.rx_id = 13;
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joint[LB] = lb = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 2;
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joint_conf.can_init_config.rx_id = 12;
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joint[RF] = rf = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 1;
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joint_conf.can_init_config.rx_id = 11;
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joint[RB] = rb = HTMotorInit(&joint_conf);
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Motor_Init_Config_s driven_conf = {
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// 写一个,剩下的修改方向和id即可
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.can_init_config.can_handle = &hcan2,
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = OPEN_LOOP,
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.close_loop_type = OPEN_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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},
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.motor_type = LK9025,
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};
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driven_conf.can_init_config.tx_id = 1;
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driven[LD] = l_driven = LKMotorInit(&driven_conf);
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driven_conf.can_init_config.tx_id = 2;
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driven[RD] = r_driven = LKMotorInit(&driven_conf);
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PID_Init_Config_s steer_p_pid_conf = {
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.Kp = 2,
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.Kd = 1,
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.Ki = 0.0f,
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.MaxOut = 4,
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.DeadBand = 0.01f,
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.Improve = PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.05,
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};
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PIDInit(&steer_p_pid, &steer_p_pid_conf);
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PID_Init_Config_s steer_v_pid_conf = {
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.Kp = 2,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 100,
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.DeadBand = 0.0f,
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.Improve = PID_DerivativeFilter | PID_Integral_Limit,
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.Derivative_LPF_RC = 0.05,
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.IntegralLimit = 2,
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};
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PIDInit(&steer_v_pid, &steer_v_pid_conf);
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PID_Init_Config_s anti_crash_pid_conf = {
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.Kp = 8,
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.Kd = 2.5,
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.Ki = 0.4,
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.MaxOut = 45,
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.DeadBand = 0.01f,
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.Improve = PID_DerivativeFilter | PID_ChangingIntegrationRate | PID_Integral_Limit,
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.Derivative_LPF_RC = 0.05,
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.CoefA = 0.05,
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.CoefB = 0.05,
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.IntegralLimit = 2,
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};
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PIDInit(&anti_crash_pid, &anti_crash_pid_conf);
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PID_Init_Config_s leg_length_pid_conf = {
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.Kp = 450,
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.Kd = 150,
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.Ki = 5,
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.MaxOut = 60,
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.DeadBand = 0.0001f,
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.Improve = PID_ChangingIntegrationRate | PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_Derivative_On_Measurement,
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.CoefA = 0.01,
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.CoefB = 0.02,
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.Derivative_LPF_RC = 0.08,
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};
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PIDInit(&leglen_pid_l, &leg_length_pid_conf);
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PIDInit(&leglen_pid_r, &leg_length_pid_conf);
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PID_Init_Config_s roll_compensate_pid_conf = {
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.Kp = 0.0008f,
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.Kd = 0.00065f,
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.Ki = 0.0f,
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.MaxOut = 0.04,
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.DeadBand = 0.005f,
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.Improve = PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.05,
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};
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PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);
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l_side.target_len = r_side.target_len = 0.23;
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chassis.vel_cov = 1000; // 初始化速度协方差
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chassis_status = ROBOT_READY;
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DWT_GetDeltaT(&balance_dwt_cnt);
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}
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static void EnableAllMotor() /* 打开所有电机 */
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{
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for (uint8_t i = 0; i < JOINT_CNT; i++) // 打开关节电机
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HTMotorEnable(joint[i]);
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for (uint8_t i = 0; i < DRIVEN_CNT; i++) // 打开驱动电机
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LKMotorEnable(driven[i]);
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}
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/* 切换底盘遥控器控制和云台双板控制 */
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static void ControlSwitch()
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{ // 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
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if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
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{
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if (rc_data->rc.rocker_l1 < -600)
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{
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chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
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chassis_cmd_recv.vx = 0.5 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
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}
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else // 设定值覆盖双板
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{
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chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后
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chassis_cmd_recv.vx = 0.02 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
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chassis_cmd_recv.offset_angle = 0.001 * (float)rc_data[TEMP].rc.rocker_r_; // rotate? follow.
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chassis_cmd_recv.delta_leglen = -0.0000015f * (float)rc_data[TEMP].rc.dial;
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}
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}
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else if (CANCommIsOnline(ci) && !switch_is_down(rc_data->rc.switch_right))
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chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(ci); // 获取云台板指令
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else
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chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
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}
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void BalanceTask()
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{
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}
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