TuxMonkey/half-steering-basic-framework
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改底盘（疯）

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This commit is contained in:
guoxy06
2026-04-12 17:21:32 +08:00
parent f8282c80b9
commit 579b507e3b
1 changed files with 52 additions and 12 deletions
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64
application/chassis/chassis.c
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@@ -145,10 +145,10 @@ void ChassisInit()
.motor_type = GM6020,
};
chassis_motor_steering_config.can_init_config.tx_id = 1;
chassis_motor_steering_config.can_init_config.tx_id = 2;
motor_steering_rf = DJIMotorInit(&chassis_motor_steering_config);
chassis_motor_steering_config.can_init_config.tx_id = 2;
chassis_motor_steering_config.can_init_config.tx_id = 1;
motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config);
PID_Init_Config_s chassis_follow_pid_conf = {
@@ -172,11 +172,14 @@ void ChassisInit()
SuperCap_Init_Config_s cap_conf = {
.can_config = {
.can_handle = &hcan2,
.tx_id = 0x302, // 超级电容默认接收id
.rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
.tx_id = 0x001, // 超级电容默认接收id
.rx_id = 0x100, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
}};
cap = SuperCapInit(&cap_conf); // 超级电容初始化
// （新增）设置超级电容功率补偿，例如补偿5W，可根据实际需求调整
SuperCapSetPowerOffset(cap, 5);
// 发布订阅初始化,如果为双板,则需要can comm来传递消息
#ifdef CHASSIS_BOARD
Chassis_IMU_data = INS_Init(); // 底盘IMU初始化
@@ -223,16 +226,43 @@ void ChassisInit()
*/
static void MinmizeRotation(float *angle, const float *last_angle, float *speed)
{
float rotation = *angle - *last_angle;
ANGLE_LIMIT_360_TO_180_ABS(rotation);
if (rotation > 90) {
*angle -= 180;
float target_angle = *angle;
float actual_angle = *last_angle;
float rotation = target_angle - actual_angle;
float norm_rotation = rotation;
while (norm_rotation > 180.0f) {
norm_rotation -= 360.0f;
}
while (norm_rotation < -180.0f) {
norm_rotation += 360.0f;
}
float threshold = 90.0f;
float target_single=fmodf(target_angle,360.0f);
if(target_single<0.0f) target_single+=360.0f;
float current_single=fmodf(actual_angle,360.0f);
if(current_single<0.0f) current_single+=360.0f;
if (norm_rotation > threshold) {
int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
*angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f;
*speed = -(*speed);
} else if (rotation < -90) {
*angle += 180;
}else if(norm_rotation<-threshold) {
int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f);
*angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f;
*speed = -(*speed);
}
ANGLE_LIMIT_360_TO_180_ABS(*angle);
// float rotation = *angle - *last_angle;
// ANGLE_LIMIT_360_TO_180_ABS(rotation);
// if (rotation > 90) {
// *angle -= 180;
// *speed = -(*speed);
// } else if (rotation < -90) {
// *angle += 180;
// *speed = -(*speed);
// }
// ANGLE_LIMIT_360_TO_180_ABS(*angle);
}
/**
@@ -367,7 +397,17 @@ void ChassisTask() {
chassis_cmd_recv.wz = 0;
break;
case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0);
//chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0);
float single_round_offset = chassis_cmd_recv.offset_angle;
if(single_round_offset > 180.0f)
{
single_round_offset -= 360.0f;
}
else if(single_round_offset < -180.0f)
{
single_round_offset += 360.0f;
}
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/90;
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 0.75;