diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 267ddd7..1c64f51 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -57,15 +57,15 @@ 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 SuperCapInstance *cap; // 超级电容 -static LKMotorInstance *motor_lf,*motor_rb; // 轮电机9015 -static DJIMotorInstance *motor_steering_lf,*motor_steering_rb; // 舵电机6020 +static LKMotorInstance *motor_rf,*motor_lb; // 轮电机9015 +static DJIMotorInstance *motor_steering_rf,*motor_steering_lb; // 舵电机6020 /* 用于自旋变速策略的时间变量 */ // static float t; /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */ static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘 -static float vt_lf, vt_rb; // 底盘速度解算后的临时输出,待进行限幅 -static float at_lf, at_rb; // 底盘的角度解算后的临时输出,待进行限幅 +static float vt_rf, vt_lb; // 底盘速度解算后的临时输出,待进行限幅 +static float at_rf, at_lb; // 底盘的角度解算后的临时输出,待进行限幅 static PIDInstance chassis_follow_pid; // 底盘跟随云台的PID void ChassisInit() @@ -75,7 +75,7 @@ void ChassisInit() .can_init_config.can_handle = &hcan1, .controller_param_init_config = { .speed_PID = { - .Kp = 80, // 4.5 + .Kp = 95, // 4.5 .Ki = 0, // 0 .Kd = 0, // 0 .IntegralLimit = 8000, @@ -83,7 +83,7 @@ void ChassisInit() .MaxOut = 12000, }, .current_PID = { - .Kp = 1, // 0.4 + .Kp = 0.4, // 0.4 .Ki = 0, // 0 .Kd = 0, .IntegralLimit = 10500, @@ -103,11 +103,11 @@ 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_rb = LKMotorInit(&chassis_motor_config); + motor_rf = 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_lf = LKMotorInit(&chassis_motor_config); + motor_lb = LKMotorInit(&chassis_motor_config); // 舵电机6020初始化 Motor_Init_Config_s chassis_motor_steering_config = { @@ -146,15 +146,15 @@ void ChassisInit() }; chassis_motor_steering_config.can_init_config.tx_id = 1; - motor_steering_rb = DJIMotorInit(&chassis_motor_steering_config); + motor_steering_rf = DJIMotorInit(&chassis_motor_steering_config); chassis_motor_steering_config.can_init_config.tx_id = 2; - motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config); + motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); PID_Init_Config_s chassis_follow_pid_conf = { - .Kp = 12, // 6 - .Ki = 3.0f, - .Kd = 0.015f, // 0.5 + .Kp = 1.2, // 6 + .Ki = 0, + .Kd = 0.1f, // 0.5 .DeadBand = 0.5, .CoefA = 0.2, .CoefB = 0.3, @@ -241,44 +241,53 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) */ static void SteeringWheelCalculate() { - float offset_lf, offset_rb; // 用于计算舵轮的角度 - float at_lf_last, at_rb_last; // 上次的角度 - at_lf_last = motor_steering_lf->measure.total_angle; - at_rb_last = motor_steering_rb->measure.total_angle; + float offset_rf, offset_lb; // 用于计算舵轮的角度 + float at_rf_last, at_lb_last; // 上次的角度 + at_rf_last = motor_steering_rf->measure.total_angle; + at_lb_last = motor_steering_lb->measure.total_angle; if (chassis_vx == 0 && chassis_vy == 0 && chassis_cmd_recv.wz == 0) { // at_lf = at_lf_last; // at_rf = at_rf_last; // at_lb = at_lb_last; // at_rb = at_rb_last; - vt_lf = 0, vt_rb = 0; + vt_rf = 0, vt_lb = 0; } else { // 生成预计算变量，减少计算量，空间换时间 float w = chassis_cmd_recv.wz * CHASSIS_WHEEL_OFFSET * SQRT2; - float temp_x = chassis_vx - w, temp_y = chassis_vy - w; - arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lf); // lf：y- , x- - temp_y = chassis_vy + w; // 重复利用变量,temp_x = chassis_vy - w;与上次相同因此注释 - // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lb); // lb: y+ , x- - // temp_x = chassis_vx + w; // temp_y = chassis_vx + w;与上次相同因此注释 - arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rb); // rb: y+ , x+ - temp_y = chassis_vy - w; // temp_x = chassis_vy + w;与上次相同因此注释 - // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rf); // rf: y- , x+ + // float temp_x = chassis_vx - w, temp_y = chassis_vy - w; + // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lf); // lf：y- , x- + // temp_y = chassis_vy + w; // 重复利用变量,temp_x = chassis_vy - w;与上次相同因此注释 + // // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lb); // lb: y+ , x- + // // temp_x = chassis_vx + w; // temp_y = chassis_vx + w;与上次相同因此注释 + // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rb); // rb: y+ , x+ + // temp_y = chassis_vy - w; // temp_x = chassis_vy + w;与上次相同因此注释 + // // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rf); // rf: y- , x+ + float temp_x = chassis_vx - w, temp_y = chassis_vy + w; + arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lb); // lb: y+ , x- + temp_x = chassis_vx + w; + temp_y = chassis_vy - w; + arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rf); // rf: y- , x+ // 计算角度偏移 - offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- - offset_rb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // rb: y+ , x+ + // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- + // offset_rb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // rb: y+ , x+ + offset_lb = atan2f(chassis_vy + w, chassis_vx - w) * RAD_2_DEGREE; // lb: y+ , x- + offset_rf = atan2f(chassis_vy - w, chassis_vx + w) * RAD_2_DEGREE; // rf: y- , x+ - at_lf = STEERING_CHASSIS_ALIGN_ANGLE_RF + offset_lf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度 - at_rb = STEERING_CHASSIS_ALIGN_ANGLE_LB + offset_rb; + at_rf = STEERING_CHASSIS_ALIGN_ANGLE_RF + offset_rf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度 + at_lb = STEERING_CHASSIS_ALIGN_ANGLE_LB + offset_lb; - ANGLE_LIMIT_360_TO_180_ABS(at_lf); - ANGLE_LIMIT_360_TO_180_ABS(at_rb); + ANGLE_LIMIT_360_TO_180_ABS(at_rf); + ANGLE_LIMIT_360_TO_180_ABS(at_lb); - MinmizeRotation(&at_lf, &at_lf_last, &vt_lf); - MinmizeRotation(&at_rb, &at_rb_last, &vt_rb); + // MinmizeRotation(&at_lf, &at_lf_last, &vt_lf); + // MinmizeRotation(&at_rb, &at_rb_last, &vt_rb); + MinmizeRotation(&at_lb, &at_lb_last, &vt_lb); + MinmizeRotation(&at_rf, &at_rf_last, &vt_rf); } - DJIMotorSetRef(motor_steering_lf, at_lf); - DJIMotorSetRef(motor_steering_rb, at_rb); + DJIMotorSetRef(motor_steering_rf, at_rf); + DJIMotorSetRef(motor_steering_lb, at_lb); } /** @@ -308,8 +317,8 @@ static void LimitChassisOutput() // LKMotorSetRef( motor_lf , vt_lf ); // LKMotorSetRef( motor_rb , vt_rb ); - LKMotorSetRef( motor_lf , vt_lf ); - LKMotorSetRef( motor_rb , vt_rb ); + LKMotorSetRef( motor_rf , vt_rf ); + LKMotorSetRef( motor_lb , vt_lb ); } /** @@ -337,18 +346,18 @@ void ChassisTask() { if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止 - LKMotorStop(motor_lf); - LKMotorStop(motor_rb); - DJIMotorStop(motor_steering_lf); - DJIMotorStop(motor_steering_rb); + LKMotorStop(motor_rf); + LKMotorStop(motor_lb); + DJIMotorStop(motor_steering_rf); + DJIMotorStop(motor_steering_lb); } else { // 正常工作 - LKMotorEnable(motor_lf); - LKMotorEnable(motor_rb); - DJIMotorEnable(motor_steering_lf); - DJIMotorEnable(motor_steering_rb); + LKMotorEnable(motor_rf); + LKMotorEnable(motor_lb); + DJIMotorEnable(motor_steering_rf); + DJIMotorEnable(motor_steering_lb); } // 根据控制模式设定旋转速度 @@ -361,7 +370,7 @@ void ChassisTask() { chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0); 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 = 4000; + chassis_cmd_recv.wz = 0.75; break; default: break;