TuxMonkey/bf_original_balance_chassis
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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	application/cmd/robot_cmd.c
#	application/gimbal/gimbal.c
This commit is contained in:
chenfu
2023-03-27 22:13:06 +08:00
parent e949580221 462a5e0654
commit ea4db9d4e9
25 changed files with 133 additions and 126 deletions
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8
application/cmd/robot_cmd.c
View File

@@ -240,14 +240,14 @@ static void MouseKeySet()
switch (rc_data[TEMP].key[KEY_PRESS].shift) //待添加 按shift允许超功率 消耗缓冲能量
{
case 1:
break;
default:
break;
}
}
/**
@@ -281,7 +281,7 @@ static void EmergencyHandler()
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
break;
default:
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;

71
application/gimbal/gimbal.c
View File

@@ -20,41 +20,41 @@ BMI088Instance* imu;
void GimbalInit()
{
BMI088_Init_Config_s imu_config = {
.spi_acc_config={
.GPIOx=CS1_ACCEL_GPIO_Port,
.cs_pin=CS1_ACCEL_Pin,
.spi_handle=&hspi1,
.spi_acc_config = {
.GPIOx = CS1_ACCEL_GPIO_Port,
.cs_pin = CS1_ACCEL_Pin,
.spi_handle = &hspi1,
},
.spi_gyro_config={
.GPIOx=CS1_GYRO_GPIO_Port,
.cs_pin=CS1_GYRO_Pin,
.spi_handle=&hspi1,
.spi_gyro_config = {
.GPIOx = CS1_GYRO_GPIO_Port,
.cs_pin = CS1_GYRO_Pin,
.spi_handle = &hspi1,
},
.acc_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=INT_ACC_Pin,
.GPIOx=INT_ACC_GPIO_Port,
.acc_int_config = {
.exti_mode = EXTI_TRIGGER_FALLING,
.GPIO_Pin = INT_ACC_Pin,
.GPIOx = INT_ACC_GPIO_Port,
},
.gyro_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=INT_GYRO_Pin,
.GPIOx=INT_GYRO_GPIO_Port,
.gyro_int_config = {
.exti_mode = EXTI_TRIGGER_FALLING,
.GPIO_Pin = INT_GYRO_Pin,
.GPIOx = INT_GYRO_GPIO_Port,
},
.heat_pid_config={
.Kp=0.0f,
.Kd=0.0f,
.Ki=0.0f,
.MaxOut=0.0f,
.DeadBand=0.0f,
.heat_pid_config = {
.Kp = 0.0f,
.Kd = 0.0f,
.Ki = 0.0f,
.MaxOut = 0.0f,
.DeadBand = 0.0f,
},
.heat_pwm_config={
.channel=TIM_CHANNEL_1,
.htim=&htim1,
.heat_pwm_config = {
.channel = TIM_CHANNEL_1,
.htim = &htim1,
},
.cali_mode=BMI088_CALIBRATE_ONLINE_MODE,
.work_mode=BMI088_BLOCK_PERIODIC_MODE,
.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
.work_mode = BMI088_BLOCK_PERIODIC_MODE,
};
// imu=BMI088Register(&imu_config);
// imu=BMI088Register(&imu_config);
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {
@@ -101,11 +101,11 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp =10,//10
.Kp = 10, // 10
.Ki = 0,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |PID_Derivative_On_Measurement,
.IntegralLimit =100,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
@@ -118,7 +118,7 @@ void GimbalInit()
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr=(&gimba_IMU_data->Gyro[0]),
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
@@ -136,7 +136,7 @@ void GimbalInit()
gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}
int aaaaaaa;
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
@@ -178,10 +178,7 @@ void GimbalTask()
default:
break;
}
// if(yaw_motor->motor_measure.total_angle>120)
// {
// aaaaaaa++;
// }
// 在合适的地方添加pitch重力补偿前馈力矩
// 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
// ...