TuxMonkey/bf_original_balance_chassis
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新增通用定义头文件,主要内容是角度转换.统一控制的输入,为后续model-based控制做准备

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NeoZng
2022-12-04 23:15:18 +08:00
parent e94bb504b8
commit 8e7935876e
14 changed files with 126 additions and 80 deletions
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37
application/gimbal/gimbal.c
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@@ -3,10 +3,15 @@
#include "dji_motor.h"
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"
// 需要将控制值统一修改为角度制而不是编码器ECD值
#define YAW_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机编码器值
#define PITCH_HORIZON_ECD 0 // 云台处于水平位置时编码器值
/* 根据每个机器人进行设定,若对云台有改动需要修改 */
#define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机编码器值
#define PITCH_HORIZON_ECD 0 // 云台处于水平位置时编码器值
// 自动将编码器转换成角度值
#define YAW_CHASSIS_ALIGN_ANGLE
#define PTICH_HORIZON_ALIGN_ANGLE
static attitude_t *Gimbal_IMU_data; // 云台IMU数据
static dji_motor_instance *yaw_motor; // yaw电机
@@ -43,7 +48,7 @@ void GimbalInit()
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type=ANGLE_LOOP,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
@@ -70,7 +75,7 @@ void GimbalInit()
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type=ANGLE_LOOP,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
},
@@ -84,8 +89,8 @@ void GimbalInit()
}
// /**
// * @brief
// *
// * @brief
// *
// */
// static void TransitionMode()
// {
@@ -111,17 +116,17 @@ void GimbalTask()
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);
DJIMotorSetRef(pitch_motor,gimbal_cmd_recv.pitch);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
break;
//是否考虑直接让云台和底盘重合,其他模式都使用陀螺仪反馈?
// 是否考虑直接让云台和底盘重合,其他模式都使用陀螺仪反馈?
case GIMBAL_FREE_MODE:
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);
DJIMotorSetRef(yaw_motor,YAW_ALIGN_ECD);
DJIMotorSetRef(pitch_motor,PITCH_HORIZON_ECD);
DJIMotorSetRef(yaw_motor, YAW_ALIGN_ECD);
DJIMotorSetRef(pitch_motor, PITCH_HORIZON_ECD);
break;
default:
break;
@@ -142,9 +147,9 @@ void GimbalTask()
*/
// 获取反馈数据
gimbal_feedback_data.gimbal_imu_data=*Gimbal_IMU_data;
gimbal_feedback_data.yaw_motor_ecd=pitch_motor->motor_measure.ecd;
gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
gimbal_feedback_data.yaw_motor_ecd = pitch_motor->motor_measure.ecd;
// 推送消息
PubPushMessage(gimbal_pub,&gimbal_feedback_data);
PubPushMessage(gimbal_pub, &gimbal_feedback_data);
}