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
75 lines
1.6 KiB
C
75 lines
1.6 KiB
C
#pragma once
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#ifndef ROBOT_DEF_H
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#define ROBOT_DEF_H
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#include "ins_task.h"
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#include "stdint.h"
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// 机器人核心任务的延时时间(ms)
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#define ROBOT_CMD_DELAY 2
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/* 开发板类型定义 */
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#define ONE_BOARD // 单板控制整车
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//#define VISION_USE_VCP // 使用虚拟串口发送视觉数据
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#define VISION_USE_UART // 使用串口发送视觉数据
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/* 云台参数 */
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#define YAW_CHASSIS_ALIGN_ECD 2711
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#define PITCH_HORIZON_ECD 3412
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#define PITCH_MAX_ANGLE 0
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#define PITCH_MIN_ANGLE 0
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/* IMU->云台方向 */
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#define GYRO2GIMBAL_DIR_YAW 1
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#define GYRO2GIMBAL_DIR_PITCH 1
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#define GYRO2GIMBAL_DIR_ROLL 1
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#pragma pack(1)
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/* 应用状态 */
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typedef enum
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{
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APP_OFFLINE = 0,
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APP_ONLINE,
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APP_ERROR,
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} App_Status_e;
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/* ---- CMD 发布给 gimbal 的控制数据 ---- */
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typedef struct
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{
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float yaw; // yaw 目标角度 (degrees, multi-turn)
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float pitch; // pitch 目标角度 (degrees)
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} Gimbal_Ctrl_Cmd_s;
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/* ---- gimbal 发布给 CMD 的反馈数据 ---- */
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typedef struct
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{
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INS_t *gimbal_imu_data; // 指向 INS 实例的指针
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uint16_t yaw_motor_single_round_angle;
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uint8_t gimbal_power;
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} Gimbal_Upload_Data_s;
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/* ---- CMD 发布给 gimbal 的电机使能指令 ---- */
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typedef struct
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{
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uint8_t enable; // 0=失能, 1=使能
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} Motor_Enable_s;
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/* ---- CMD 发布给 gimbal 的电机角度环 PID 参数 ---- */
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typedef struct
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{
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float yaw_Kp, yaw_Ki, yaw_Kd;
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float pitch_Kp, pitch_Ki, pitch_Kd;
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} Motor_PID_Tune_s;
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/* ---- CMD 发布给 gimbal 的前馈输入 ---- */
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typedef struct
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{
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float feedforward;
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} Gimbal_Feedforward_s;
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#pragma pack()
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#endif // !ROBOT_DEF_H
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