SkyLiCoder
e1a01e6b53
- host 0xA9 frame → master_machine decode → robot_cmd publish via gimbal_feedforward topic → gimbal subscribe → yaw_motor.feed_input - add DM_Feedforward_Controller_s with Kp and feed_input fields - add feedforward term (Kp * feed_input) to motor control output - add DM_Feedforward_Kp to motor init config
138 lines
4.8 KiB
C
138 lines
4.8 KiB
C
#include "gimbal.h"
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#include "robot_def.h"
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#include "dmmotor.h"
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#include "ins_task.h"
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#include "message_center.h"
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#include "general_def.h"
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static INS_t *gimbal_IMU_data;
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static Publisher_t *gimbal_pub;
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static Subscriber_t *gimbal_sub;
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static Subscriber_t *motor_enable_sub;
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static Subscriber_t *motor_pid_sub;
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static Subscriber_t *feedforward_sub;
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static Gimbal_Upload_Data_s gimbal_feedback_data;
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;
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static DMMotorInstance *yaw_motor; // DM-G6220
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static DMMotorInstance *pitch_motor; // DM-J4310-2EC
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void GimbalInit()
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{
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gimbal_IMU_data = INS_Init();
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gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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motor_enable_sub = SubRegister("motor_enable", sizeof(Motor_Enable_s));
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motor_pid_sub = SubRegister("motor_pid", sizeof(Motor_PID_Tune_s));
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feedforward_sub = SubRegister("gimbal_feedforward", sizeof(Gimbal_Feedforward_s));
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/* ---- Yaw: DM-G6220, CAN1, TX=0x01, RX=0xF1, Velocity模式 ---- */
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DM_Motor_Init_Config_s yaw_config = {
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.motor_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 0x01,
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.rx_id = 0xF1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 1, .Ki = 0, .Kd = 0,
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.IntegralLimit = 45,
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.CoefA = 15, .CoefB = 5,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
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PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
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.MaxOut = 2000,
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},
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.other_angle_feedback_ptr = &gimbal_IMU_data->YawTotalAngle,
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.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[2],
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},
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.output_reverse = OUTPUT_DIRECTION_NORMAL,
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.motor_type = DM_MOTOR,
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},
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.ctrl_mode = DM_MODE_VELOCITY,
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.DM_Feedforward_Kp = 0.9f,
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.mit_kp = 0, .mit_kd = 0,
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};
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yaw_motor = DMMotorInit(&yaw_config);
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/* ---- Pitch: DM-J4310-2EC, CAN1, TX=0x02, RX=0xF2, Velocity模式 ---- */
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DM_Motor_Init_Config_s pitch_config = {
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.motor_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.tx_id = 0x02,
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.rx_id = 0xF2,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 1, .Ki = 0, .Kd = 0,
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.IntegralLimit = 45,
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.CoefA = 15, .CoefB = 5,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
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PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
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.MaxOut = 2000,
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},
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.other_angle_feedback_ptr = &gimbal_IMU_data->Pitch,
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.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[0],
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},
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.output_reverse = OUTPUT_DIRECTION_NORMAL,
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.motor_type = DM_MOTOR,
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},
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.ctrl_mode = DM_MODE_VELOCITY,
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.mit_kp = 0, .mit_kd = 0,
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};
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pitch_motor = DMMotorInit(&pitch_config);
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gimbal_feedback_data.gimbal_imu_data = gimbal_IMU_data;
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}
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void GimbalTask()
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{
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/* 角度环参考值设定 */
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if(SubGetMessage(gimbal_sub, &gimbal_cmd_recv))
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{
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DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
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DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
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}
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/* 前馈输入 */
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static Gimbal_Feedforward_s feedforward_msg;
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if (SubGetMessage(feedforward_sub, &feedforward_msg))
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{
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yaw_motor->feedforward_controller.feed_input = feedforward_msg.feedforward;
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}
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/* 电机使能/失能控制 */
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static Motor_Enable_s enable_msg;
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if (SubGetMessage(motor_enable_sub, &enable_msg))
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{
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if (enable_msg.enable)
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{
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DMMotorSetMode(DM_CMD_ENABLE_MODE, yaw_motor);
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DMMotorSetMode(DM_CMD_ENABLE_MODE, pitch_motor);
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}
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else
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{
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DMMotorSetMode(DM_CMD_DISABLE_MODE, yaw_motor);
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DMMotorSetMode(DM_CMD_DISABLE_MODE, pitch_motor);
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}
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}
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/* 电机角度环 PID 调参 */
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static Motor_PID_Tune_s pid_tune;
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if (SubGetMessage(motor_pid_sub, &pid_tune))
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{
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yaw_motor->motor_controller.angle_PID.Kp = pid_tune.yaw_Kp;
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yaw_motor->motor_controller.angle_PID.Ki = pid_tune.yaw_Ki;
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yaw_motor->motor_controller.angle_PID.Kd = pid_tune.yaw_Kd;
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pitch_motor->motor_controller.angle_PID.Kp = pid_tune.pitch_Kp;
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pitch_motor->motor_controller.angle_PID.Ki = pid_tune.pitch_Ki;
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pitch_motor->motor_controller.angle_PID.Kd = pid_tune.pitch_Kd;
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}
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PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
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}
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