mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-23 19:25:09 +08:00
404 lines
14 KiB
C
404 lines
14 KiB
C
// app
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#include "balance.h"
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#include "robot_def.h"
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#include "general_def.h"
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#include "ins_task.h"
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#include "HT04.h"
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#include "LK9025.h"
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#include "controller.h"
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#include "can_comm.h"
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#include "super_cap.h"
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#include "user_lib.h"
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#include "remote_control.h"
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#include "referee_task.h"
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#include "stdint.h"
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#include "arm_math.h" // 需要用到较多三角函数
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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#include "linkNleg.h"
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#include "speed_estimation.h"
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#include "lqr_calc.h"
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static uint32_t balance_dwt_cnt;
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static float del_t;
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/* 底盘拥有的模块实例 */
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static attitude_t *imu_data;
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static RC_ctrl_t *rc_data; // 底盘单独调试用
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static Referee_Interactive_info_t my_ui;
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static referee_info_t *referee_data;
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
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static Chassis_Upload_Data_s chassis_feed;
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static CANCommInstance *ci;
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static SuperCapInstance *cap;
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// 四个关节电机和两个驱动轮电机
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static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试
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static LKMotorInstance *l_driven, *r_driven, *driven[2];
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// 两个腿的参数,0为左腿,1为右腿
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static LinkNPodParam l_side, r_side;
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static ChassisParam chassis;
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// 综合运动补偿的PID控制器
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static PIDInstance steer_p_pid, steer_v_pid; // 转向PID,有转向指令时使用IMU的加速度反馈积分以获取速度和位置状态量
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static PIDInstance anti_crash_pid, phi5_pid; // 抗劈叉,将输出以相反的方向叠加到左右腿的上
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static PIDInstance leglen_pid_l, leglen_pid_r; // 用PD模拟弹簧,不要积分(弹簧是无积分二阶系统),增益不可过大否则抗外界冲击响应时太"硬"
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static PIDInstance roll_compensate_pid, rolldot_pid; // roll轴补偿,用于保持机体水平
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static Robot_Status_e chassis_status;
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void BalanceInit()
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{
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rc_data = RemoteControlInit(&huart3);
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imu_data = INS_Init();
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// 双板通信
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CANComm_Init_Config_s commconf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x40,
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.rx_id = 0x41},
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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.send_data_len = sizeof(Chassis_Upload_Data_s)};
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ci = CANCommInit(&commconf);
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// 超级电容
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan2,
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.tx_id = 0x302, // todo 电容id
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.rx_id = 0x301}};
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cap = SuperCapInit(&cap_conf);
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// 关节电机
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Motor_Init_Config_s joint_conf = {
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// 写一个,剩下的修改方向和id即可
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.can_init_config = {
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.can_handle = &hcan1},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 0.3,
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.Kd = 0.1,
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.Ki = 0,
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.DeadBand = 0.0001,
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.Improve = PID_DerivativeFilter,
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.MaxOut = 4,
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.Derivative_LPF_RC = 0.05,
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}, // 仅用于复位腿
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},
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.controller_setting_init_config = {
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.close_loop_type = ANGLE_LOOP,
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.outer_loop_type = OPEN_LOOP,
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.motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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},
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.motor_type = HT04};
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joint_conf.can_init_config.tx_id = 4;
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joint_conf.can_init_config.rx_id = 14;
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joint[LF] = lf = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 3;
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joint_conf.can_init_config.rx_id = 13;
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joint[LB] = lb = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 2;
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joint_conf.can_init_config.rx_id = 12;
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joint[RF] = rf = HTMotorInit(&joint_conf);
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joint_conf.can_init_config.tx_id = 1;
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joint_conf.can_init_config.rx_id = 11;
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joint[RB] = rb = HTMotorInit(&joint_conf);
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// 驱动轮电机
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Motor_Init_Config_s driven_conf = {
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// 写一个,剩下的修改方向和id即可
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.can_init_config.can_handle = &hcan2,
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = OPEN_LOOP,
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.close_loop_type = OPEN_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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},
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.motor_type = LK9025,
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};
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driven_conf.can_init_config.tx_id = 1;
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driven[LD] = l_driven = LKMotorInit(&driven_conf);
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driven_conf.can_init_config.tx_id = 2;
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driven[RD] = r_driven = LKMotorInit(&driven_conf);
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// 转向PID
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PID_Init_Config_s steer_p_pid_conf = {
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.Kp = 2,
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.Kd = 1,
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.Ki = 0.0f,
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.MaxOut = 4,
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.DeadBand = 0.01f,
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.Improve = PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.05,
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};
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PIDInit(&steer_p_pid, &steer_p_pid_conf);
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PID_Init_Config_s steer_v_pid_conf = {
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.Kp = 2,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 100,
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.DeadBand = 0.0f,
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.Improve = PID_DerivativeFilter | PID_Integral_Limit,
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.Derivative_LPF_RC = 0.05,
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.IntegralLimit = 2,
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};
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PIDInit(&steer_v_pid, &steer_v_pid_conf);
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// 抗劈叉
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PID_Init_Config_s anti_crash_pid_conf = {
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.Kp = 8,
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.Kd = 2.5,
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.Ki = 0.4,
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.MaxOut = 45,
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.DeadBand = 0.01f,
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.Improve = PID_DerivativeFilter | PID_ChangingIntegrationRate | PID_Integral_Limit,
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.Derivative_LPF_RC = 0.05,
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.CoefA = 0.05,
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.CoefB = 0.05,
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.IntegralLimit = 2,
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};
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PIDInit(&anti_crash_pid, &anti_crash_pid_conf);
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// 腿长控制
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PID_Init_Config_s leg_length_pid_conf = {
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.Kp = 450,
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.Kd = 150,
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.Ki = 5,
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.MaxOut = 60,
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.DeadBand = 0.0001f,
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.Improve = PID_ChangingIntegrationRate | PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_Derivative_On_Measurement,
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.CoefA = 0.01,
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.CoefB = 0.02,
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.Derivative_LPF_RC = 0.08,
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};
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PIDInit(&leglen_pid_l, &leg_length_pid_conf);
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PIDInit(&leglen_pid_r, &leg_length_pid_conf);
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// 横滚角补偿
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PID_Init_Config_s roll_compensate_pid_conf = {
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.Kp = 0.0008f,
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.Kd = 0.00065f,
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.Ki = 0.0f,
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.MaxOut = 0.04,
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.DeadBand = 0.005f,
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.Improve = PID_DerivativeFilter,
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.Derivative_LPF_RC = 0.05,
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};
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PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);
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l_side.target_len = r_side.target_len = 0.23; // 初始腿长
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chassis.vel_cov = 1000; // 初始化速度协方差
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chassis_status = ROBOT_READY;
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DWT_GetDeltaT(&balance_dwt_cnt);
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}
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static void EnableAllMotor() /* 打开所有电机 */
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{
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for (uint8_t i = 0; i < JOINT_CNT; i++) // 打开关节电机
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HTMotorEnable(joint[i]);
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for (uint8_t i = 0; i < DRIVEN_CNT; i++) // 打开驱动电机
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LKMotorEnable(driven[i]);
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}
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/* 切换底盘遥控器控制和云台双板控制 */
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static void ControlSwitch()
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{
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// 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
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if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
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{
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if (rc_data->rc.rocker_l1 < -600)
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{
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chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
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chassis_cmd_recv.vx = 0.5 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
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}
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else // 设定值覆盖双板
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{
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chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后
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chassis_cmd_recv.vx = 0.02 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
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chassis_cmd_recv.offset_angle = 0.001 * (float)rc_data[TEMP].rc.rocker_r_; // rotate? follow.
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chassis_cmd_recv.delta_leglen = -0.0000015f * (float)rc_data[TEMP].rc.dial;
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}
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}
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else if (CANCommIsOnline(ci) && !switch_is_down(rc_data->rc.switch_right))
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chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(ci); // 获取云台板指令
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else
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chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
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}
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/* 腿缩回复位,只允许驱动轮电机移动 */
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static void ResetChassis()
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{
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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
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// 复位时清空距离和腿长积累量,保证顺利站起
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chassis.dist = chassis.target_dist = 0;
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l_side.target_len = r_side.target_len = 0.24;
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// 撞墙时前后移动保证能重新站立,执行速度输入
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LKMotorSetRef(l_driven, chassis_cmd_recv.vx * 2);
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LKMotorSetRef(r_driven, -chassis_cmd_recv.vx * 2);
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// 若关节完成复位,进入ready态
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if (abs(lf->measure.total_angle) < 0.05 && abs(lf->measure.total_angle) > 0.02 &&
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abs(lb->measure.total_angle) < 0.05 && abs(lb->measure.total_angle) > 0.02 &&
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abs(rf->measure.total_angle) < 0.05 && abs(rf->measure.total_angle) > 0.02 &&
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abs(rb->measure.total_angle) < 0.05 && abs(rb->measure.total_angle) > 0.02)
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{
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chassis_status = ROBOT_READY; // 底盘已经准备好重新站立
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}
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else if (abs(lf->measure.total_angle) <= 0.02 &&
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abs(lb->measure.total_angle) <= 0.02 &&
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abs(rf->measure.total_angle) <= 0.02 &&
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abs(rb->measure.total_angle) <= 0.02)
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{ // 双阈值保证关节能够复位而不会进入死区
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chassis_status = ROBOT_READY; // 底盘已经准备好重新站立
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for (uint8_t i = 0; i < JOINT_CNT; i++)
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HTMotorOuterLoop(joint[i], OPEN_LOOP); // 改回直接开环扭矩输入,让电调对扭矩闭环
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return; // 退出函数不再执行关节指令
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}
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else
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chassis_status = ROBOT_STOP;
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// 还在复位中,关节改为位置环,执行复位
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for (uint8_t i = 0; i < JOINT_CNT; i++)
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{
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HTMotorOuterLoop(joint[i], ANGLE_LOOP);
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HTMotorSetRef(joint[i], 0);
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}
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}
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/* 工作状态设定 */
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static void WokingStateSet()
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{
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if (chassis_cmd_recv.chassis_mode == CHASSIS_RESET) // 复位模式
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{
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ResetChassis();
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return;
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}
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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
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{
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for (uint8_t i = 0; i < JOINT_CNT; i++)
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HTMotorStop(joint[i]);
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for (uint8_t i = 0; i < DRIVEN_CNT; i++)
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LKMotorStop(driven[i]);
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return; // 关闭所有电机,发送的指令为零
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}
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// 运动模式
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EnableAllMotor();
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// 设置目标速度/腿长/距离
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l_side.target_len += chassis_cmd_recv.delta_leglen;
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r_side.target_len += chassis_cmd_recv.delta_leglen;
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VAL_LIMIT(l_side.target_len, 0.13, 0.3); // 腿长限幅
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VAL_LIMIT(r_side.target_len, 0.13, 0.3);
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// 加速度限幅,防止键盘控制摔倒
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if (abs(chassis_cmd_recv.vx - chassis.target_v) / del_t < MAX_ACC_REF)
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chassis.target_v = chassis_cmd_recv.vx;
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else
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chassis.target_v += sign(chassis_cmd_recv.vx - chassis.target_v) * MAX_ACC_REF * del_t;
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// 模型距离参考输入
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chassis.target_dist += chassis.target_v * del_t;
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chassis.target_yaw = chassis_cmd_recv.offset_angle; // 云台和底盘对齐时电机编码器的单圈反馈角度
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}
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/**
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* @brief 将电机和imu的数据组装为LinkNPodParam结构体和chassisParam结构体
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*
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* @note HT04电机上电的编码器位置为零(校准过),请看Link2Pod()的note,以及HT04.c中的电机解码部分
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* @note 海泰04电机顺时针旋转为正; LK9025电机逆时针旋转为正,此处皆需要转换为模型中给定的正方向
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*
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*/
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static void ParamAssemble()
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{
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// 机体参数,视为平面刚体
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chassis.pitch = (-imu_data->Pitch + BALANCE_GRAVITY_BIAS) * DEGREE_2_RAD;
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chassis.pitch_w = -imu_data->Gyro[0];
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chassis.yaw = imu_data->YawTotalAngle * DEGREE_2_RAD;
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chassis.wz = imu_data->Gyro[2];
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chassis.roll = imu_data->Roll * DEGREE_2_RAD + ROLL_GRAVITY_BIAS;
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chassis.roll_w = imu_data->Gyro[1];
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// HT04电机的角度是顺时针为正,LK9025电机的角度是逆时针为正
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l_side.phi1 = PI + LIMIT_LINK_RAD - lb->measure.total_angle;
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l_side.phi4 = -lf->measure.total_angle - LIMIT_LINK_RAD;
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l_side.phi1_w = -lb->measure.speed_rads;
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l_side.phi4_w = -lf->measure.speed_rads;
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l_side.w_ecd = l_driven->measure.speed_rads;
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r_side.phi1 = PI + LIMIT_LINK_RAD + rb->measure.total_angle;
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r_side.phi4 = rf->measure.total_angle - LIMIT_LINK_RAD;
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r_side.phi1_w = rb->measure.speed_rads;
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r_side.phi4_w = rf->measure.speed_rads;
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r_side.w_ecd = -r_driven->measure.speed_rads;
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}
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/* 腿部控制:抗劈叉; 轮子控制:转向 */
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static void SynthesizeMotion()
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{
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// 跟随云台yaw
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if (chassis_cmd_recv.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW ||
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chassis_cmd_recv.chassis_mode == CHASSIS_FREE_DEBUG) // 角度环
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{
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float p_ref = PIDCalculate(&steer_p_pid, chassis_cmd_recv.offset_angle, 0);
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PIDCalculate(&steer_v_pid, chassis.wz, p_ref); // 双环
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}
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else if (chassis_cmd_recv.chassis_mode == CHASSIS_ROTATE) // 速度环
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PIDCalculate(&steer_v_pid, chassis.wz, 4);
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l_side.T_wheel -= steer_v_pid.Output;
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r_side.T_wheel += steer_v_pid.Output;
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// 抗劈叉
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volatile static float swerving_speed_ff, ff_coef = 3;
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swerving_speed_ff = ff_coef * steer_v_pid.Output; // 用于抗劈叉的前馈
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PIDCalculate(&anti_crash_pid, l_side.phi5 - r_side.phi5, 0);
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l_side.T_hip += anti_crash_pid.Output - swerving_speed_ff;
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r_side.T_hip -= anti_crash_pid.Output - swerving_speed_ff;
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}
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/* 腿长控制和Roll补偿 */
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static void LegControl()
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{
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PIDCalculate(&roll_compensate_pid, chassis.roll, 0);
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l_side.target_len -= roll_compensate_pid.Output;
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r_side.target_len += roll_compensate_pid.Output;
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static float gravity_comp = 0;
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static float roll_extra_comp_p = 0;
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float roll_comp = roll_extra_comp_p * chassis.roll;
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l_side.F_leg = PIDCalculate(&leglen_pid_l, l_side.height, l_side.target_len) + gravity_comp + roll_comp;
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r_side.F_leg = PIDCalculate(&leglen_pid_r, r_side.height, r_side.target_len) + gravity_comp - roll_comp;
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// @todo: 还需要加和roll的纯Kp项
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}
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|
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/* 设定运动模态的输出 */
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static void WattLimitSet()
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{
|
|
HTMotorSetRef(lf, 0.285f * -l_side.T_front); // 根据扭矩常数计算得到的系数
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HTMotorSetRef(lb, 0.285f * -l_side.T_back);
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HTMotorSetRef(rf, 0.285f * r_side.T_front);
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HTMotorSetRef(rb, 0.285f * r_side.T_back);
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LKMotorSetRef(l_driven, 274.348 * l_side.T_wheel);
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|
LKMotorSetRef(r_driven, 274.348 * -r_side.T_wheel);
|
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}
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|
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|
|
void BalanceTask()
|
|
{
|
|
del_t = DWT_GetDeltaT(&balance_dwt_cnt);
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|
|
|
// 切换遥控器控制or云台板控制
|
|
ControlSwitch();
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|
|
} |