TuxMonkey/bf_original_balance_chassis
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复位和急停模式下目标速度置0

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kai
2024-05-09 21:25:41 +08:00
parent 9c141e4310
commit 987d7c9b68
1 changed files with 7 additions and 3 deletions
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10
application/chassis/balance.c
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@@ -113,7 +113,7 @@ void BalanceInit()
// 腿长控制 // 腿长控制
PID_Init_Config_s leg_length_pid_conf = { PID_Init_Config_s leg_length_pid_conf = {
.Kp = 1200, .Kp = 1200,
.Kd = 200, .Kd = 300,
.Ki = 0, .Ki = 0,
.MaxOut = 60, .MaxOut = 60,
.DeadBand = 0.0001f, .DeadBand = 0.0001f,
@@ -126,7 +126,7 @@ void BalanceInit()
// roll轴补偿 // roll轴补偿
PID_Init_Config_s roll_compensate_pid_conf = { PID_Init_Config_s roll_compensate_pid_conf = {
.Kp = 0.0008f, .Kp = 0.0008f,
.Kd = 0.0001f, .Kd = 0.0002f,
.Ki = 0.0f, .Ki = 0.0f,
.MaxOut = 0.05, .MaxOut = 0.05,
.DeadBand = 0.001f, .DeadBand = 0.001f,
@@ -162,7 +162,7 @@ void BalanceInit()
// 抗劈叉 // 抗劈叉
PID_Init_Config_s anti_crash_pid_conf = { PID_Init_Config_s anti_crash_pid_conf = {
.Kp = 15, .Kp = 15,
.Kd = 1, .Kd = 2,
.Ki = 0.0, .Ki = 0.0,
.MaxOut = 30, .MaxOut = 30,
.DeadBand = 0.001f, .DeadBand = 0.001f,
@@ -227,6 +227,8 @@ static void ResetChassis()
{ {
EnableAllMotor(); // 打开全部电机,关节复位到起始角度,驱动电机响应速度输入以从墙角或固连中脱身 EnableAllMotor(); // 打开全部电机,关节复位到起始角度,驱动电机响应速度输入以从墙角或固连中脱身
// 目标速度置0
chassis.target_v = 0;
// 复位时清空距离和腿长积累量,保证顺利站起 // 复位时清空距离和腿长积累量,保证顺利站起
chassis.dist = chassis.target_dist = 0; chassis.dist = chassis.target_dist = 0;
l_side.target_len = r_side.target_len = 0.12; l_side.target_len = r_side.target_len = 0.12;
@@ -279,6 +281,8 @@ static void WokingStateSet()
} }
else if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) // 未收到遥控器和云台指令底盘进入急停 else if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) // 未收到遥控器和云台指令底盘进入急停
{ {
// 目标速度置0
chassis.target_v = 0;
// 清空腿长和距离 // 清空腿长和距离
l_side.target_len = r_side.target_len = 0.12; l_side.target_len = r_side.target_len = 0.12;
chassis.dist = chassis.target_dist = 0; chassis.dist = chassis.target_dist = 0;