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添加均值滤波,修改HT电机控制方式,添加了一些文档

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This commit is contained in:
NeoZng
2023-05-29 09:48:07 +08:00
parent 7403943814
commit ff5028036a
14 changed files with 272 additions and 125 deletions
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6
modules/motor/DJImotor/dji_motor.c
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@@ -134,7 +134,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
RPM_2_ANGLE_PER_SEC * SPEED_SMOOTH_COEF * (float)((int16_t)(rxbuff[2] << 8 | rxbuff[3]));
measure->real_current = (1.0f - CURRENT_SMOOTH_COEF) * measure->real_current +
CURRENT_SMOOTH_COEF * (float)((int16_t)(rxbuff[4] << 8 | rxbuff[5]));
measure->temperate = rxbuff[6];
measure->temperature = rxbuff[6];
// 多圈角度计算,前提是假设两次采样间电机转过的角度小于180°,自己画个图就清楚计算过程了
if (measure->ecd - measure->last_ecd > 4096)
@@ -238,6 +238,7 @@ void DJIMotorControl()
pid_ref = motor_controller->pid_ref; // 保存设定值,防止motor_controller->pid_ref在计算过程中被修改
if (motor_setting->motor_reverse_flag == MOTOR_DIRECTION_REVERSE)
pid_ref *= -1; // 设置反转
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
@@ -272,6 +273,9 @@ void DJIMotorControl()
pid_ref = PIDCalculate(&motor_controller->current_PID, measure->real_current, pid_ref);
}
if (motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
pid_ref *= -1;
// 获取最终输出
set = (int16_t)pid_ref;

4
modules/motor/DJImotor/dji_motor.h
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@@ -35,7 +35,7 @@ typedef struct
float angle_single_round; // 单圈角度
float speed_aps; // 角速度,单位为:度/秒
int16_t real_current; // 实际电流
uint8_t temperate; // 温度 Celsius
uint8_t temperature; // 温度 Celsius
float total_angle; // 总角度,注意方向
int32_t total_round; // 总圈数,注意方向
@@ -48,7 +48,7 @@ typedef struct
typedef struct
{
DJI_Motor_Measure_s measure; // 电机测量值
DJI_Motor_Measure_s measure; // 电机测量值
Motor_Control_Setting_s motor_settings; // 电机设置
Motor_Controller_s motor_controller; // 电机控制器