TuxMonkey/bf_original_balance_chassis
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修复LK电机id计算错误，构建平衡底盘框架，增加通用通信模块，增加平衡底盘条件编译兼容，删除lqr

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This commit is contained in:
NeoZng
2023-02-16 15:46:04 +08:00
parent b9a7d87dfd
commit a2a83f9fbf
35 changed files with 554 additions and 242 deletions
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18
modules/motor/HTmotor/HT04.c
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@@ -12,7 +12,7 @@ HTMotorInstance *ht_motor_instance[HT_MOTOR_CNT];
* @param motor
*/
static void HTMotorSetMode(HTMotor_Mode_t cmd, HTMotorInstance *motor)
{
{
memset(motor->motor_can_instace->tx_buff, 0xff, 7); // 发送电机指令的时候前面7bytes都是0xff
motor->motor_can_instace->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
CANTransmit(motor->motor_can_instace, 1);
@@ -67,9 +67,9 @@ HTMotorInstance *HTMotorInit(Motor_Init_Config_s *config)
memset(motor, 0, sizeof(HTMotorInstance));
motor->motor_settings = config->controller_setting_init_config;
PID_Init(&motor->current_PID, &config->controller_param_init_config.current_PID);
PID_Init(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PID_Init(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
PIDInit(&motor->current_PID, &config->controller_param_init_config.current_PID);
PIDInit(&motor->speed_PID, &config->controller_param_init_config.speed_PID);
PIDInit(&motor->angle_PID, &config->controller_param_init_config.angle_PID);
motor->other_angle_feedback_ptr = config->controller_param_init_config.other_angle_feedback_ptr;
motor->other_speed_feedback_ptr = config->controller_param_init_config.other_speed_feedback_ptr;
@@ -112,7 +112,7 @@ void HTMotorControl()
else
pid_measure = measure->real_current;
// measure单位是rad,ref是角度,统一到angle下计算,方便建模
pid_ref = PID_Calculate(&motor->angle_PID, pid_measure*RAD_2_ANGLE, pid_ref);
pid_ref = PIDCalculate(&motor->angle_PID, pid_measure * RAD_2_ANGLE, pid_ref);
}
if ((setting->close_loop_type & SPEED_LOOP) && setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))
@@ -125,7 +125,7 @@ void HTMotorControl()
else
pid_measure = measure->speed_aps;
// measure单位是rad / s ,ref是angle per sec,统一到angle下计算
pid_ref = PID_Calculate(&motor->speed_PID, pid_measure*RAD_2_ANGLE, pid_ref);
pid_ref = PIDCalculate(&motor->speed_PID, pid_measure * RAD_2_ANGLE, pid_ref);
}
if (setting->close_loop_type & CURRENT_LOOP)
@@ -133,15 +133,15 @@ void HTMotorControl()
if (setting->feedforward_flag & CURRENT_FEEDFORWARD)
pid_ref += *motor->current_feedforward_ptr;
pid_ref = PID_Calculate(&motor->current_PID, measure->real_current, pid_ref);
pid_ref = PIDCalculate(&motor->current_PID, measure->real_current, pid_ref);
}
set = pid_ref;
if (setting->reverse_flag == MOTOR_DIRECTION_REVERSE)
set *= -1;
LIMIT_MIN_MAX(set, T_MIN, T_MAX); // 限幅,实际上这似乎和pid输出限幅重复了
tmp = float_to_uint(set, T_MIN, T_MAX, 12); // 数值最后在 -12~+12之间
LIMIT_MIN_MAX(set, T_MIN, T_MAX); // 限幅,实际上这似乎和pid输出限幅重复了
tmp = float_to_uint(set, T_MIN, T_MAX, 12); // 数值最后在 -12~+12之间
motor_can->tx_buff[6] = (tmp >> 8);
motor_can->tx_buff[7] = tmp & 0xff;