TuxMonkey/half-steering-basic-framework
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改底盘（疯2）

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guoxy06
2026-04-14 17:11:22 +08:00
parent 579b507e3b
commit e783abf8d6
1 changed files with 11 additions and 7 deletions
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18
application/chassis/chassis.c
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@@ -34,6 +34,7 @@
#define CHASSIS_WHEEL_OFFSET 1.0f // 机器人底盘轮子修正偏移量
#elif defined(CHASSIS_STEERING_WHEEL)
#define CHASSIS_WHEEL_OFFSET 30.0f // 机器人底盘轮子修正偏移量
//#define CHASSIS_WHEEL_OFFSET 2.0f
#define SQRT2 1.41421356f // 根号2
#elif defined(CHASSIS_OMNI_WHEEL)
#define CHASSIS_WHEEL_OFFSET 0.7071f // 机器人底盘轮子修正偏移量，根号2/2，即45度，用于修正全向轮的安装位置
@@ -54,7 +55,7 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t* referee_data; // 用于获取裁判系统的数据
static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI/
static SuperCapInstance *cap; // 超级电容
static LKMotorInstance *motor_rf,*motor_lb; // 轮电机9015
@@ -103,11 +104,11 @@ void ChassisInit()
chassis_motor_config.can_init_config.tx_id = 1;
// chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rf = LKMotorInit(&chassis_motor_config);
motor_lb= LKMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 2;
// chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_lb = LKMotorInit(&chassis_motor_config);
motor_rf = LKMotorInit(&chassis_motor_config);
// 舵电机6020初始化
Motor_Init_Config_s chassis_motor_steering_config = {
@@ -407,10 +408,11 @@ void ChassisTask() {
{
single_round_offset += 360.0f;
}
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/90;
chassis_cmd_recv.wz = -PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/70.0f;
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;
// chassis_cmd_recv.wz = 0.75;
chassis_cmd_recv.wz = -0.75;//实验版
break;
default:
break;
@@ -421,8 +423,10 @@ void ChassisTask() {
static float sin_theta, cos_theta;
cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD);
chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
// chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;
// chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
chassis_vy = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta;//实验版
chassis_vx = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta;
// 根据控制模式进行正运动学解算,计算底盘输出
SteeringWheelCalculate();