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chassis_balance.c
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/**
****************************(C) COPYRIGHT 2024 Polarbear****************************
* @file chassis_balance.c/h
* @brief 平衡底盘控制器。
* @note 包括初始化，目标量更新、状态量更新、控制量计算与直接控制量的发送
* @history
* Version Date Author Modification
* V1.0.0 Apr-1-2024 Penguin 1. done
* V1.0.1 Apr-16-2024 Penguin 1. 完成基本框架
*
@verbatim
==============================================================================
==============================================================================
@endverbatim
****************************(C) COPYRIGHT 2024 Polarbear****************************
*/
#include "chassis_balance.h"
#if (CHASSIS_TYPE == CHASSIS_BALANCE)
#include "CAN_communication.h"
#include "bsp_delay.h"
#include "detect_task.h"
#include "leg_model.h"
#include "signal_generator.h"
#include "stdbool.h"
#include "string.h"
#include "usb_task.h"
#include "user_lib.h"
#define CALIBRATE_STOP_VELOCITY 0.05f // rad/s
#define CALIBRATE_STOP_TIME 200 // ms
#define CALIBRATE_VELOCITY 2.0f // rad/s
static Calibrate_s CALIBRATE = {
.cali_cnt = 0,
.velocity = {0.0f, 0.0f, 0.0f, 0.0f},
.stpo_time = {0, 0, 0, 0},
.reached = {false, false, false, false},
.calibrated = false,
};
static GroundTouch_s GROUND_TOUCH = {
.touch_time = 0,
.touch = false,
};
static Chassis_s CHASSIS = {
.mode = CHASSIS_OFF,
.state = CHASSIS_STATE_ERROR,
.error_code = 0,
.yaw_mid = 0,
.ratio =
{
// clang-format off
.k = {{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f},
{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f}},
// clang-format on
.Tp = TP_RATIO,
.T = T_RATIO,
.length = 1.0f,
},
.dyaw = 0.0f,
};
/*-------------------- Init --------------------*/
/**
* @brief 初始化
* @param[in] none
* @retval none
*/
void ChassisInit(void)
{
CHASSIS.rc = get_remote_control_point(); // 获取遥控器指针
CHASSIS.imu = Subscribe("imu_data"); // 获取IMU数据指针
/*-------------------- 初始化底盘电机 --------------------*/
MotorInit(&CHASSIS.joint_motor[0], 1, JOINT_CAN, DM_8009, J0_DIRECTION, 1, DM_MODE_MIT);
MotorInit(&CHASSIS.joint_motor[1], 2, JOINT_CAN, DM_8009, J1_DIRECTION, 1, DM_MODE_MIT);
MotorInit(&CHASSIS.joint_motor[2], 3, JOINT_CAN, DM_8009, J2_DIRECTION, 1, DM_MODE_MIT);
MotorInit(&CHASSIS.joint_motor[3], 4, JOINT_CAN, DM_8009, J3_DIRECTION, 1, DM_MODE_MIT);
MotorInit(&CHASSIS.wheel_motor[0], 1, WHEEL_CAN, MF_9025, W0_DIRECTION, 1, 0);
MotorInit(&CHASSIS.wheel_motor[1], 2, WHEEL_CAN, MF_9025, W1_DIRECTION, 1, 0);
/*-------------------- 值归零 --------------------*/
memset(&CHASSIS.fdb, 0, sizeof(CHASSIS.fdb));
memset(&CHASSIS.ref, 0, sizeof(CHASSIS.ref));
/*-------------------- 初始化底盘PID --------------------*/
float yaw_angle_pid[3] = {KP_CHASSIS_YAW_ANGLE, KI_CHASSIS_YAW_ANGLE, KD_CHASSIS_YAW_ANGLE};
float yaw_velocity_pid[3] = {
KP_CHASSIS_YAW_VELOCITY, KI_CHASSIS_YAW_VELOCITY, KD_CHASSIS_YAW_VELOCITY};
float roll_angle_pid[3] = {KP_CHASSIS_ROLL_ANGLE, KI_CHASSIS_ROLL_ANGLE, KD_CHASSIS_ROLL_ANGLE};
// float roll_velocity_pid[3] = {
// KP_CHASSIS_ROLL_VELOCITY, KI_CHASSIS_ROLL_VELOCITY, KD_CHASSIS_ROLL_VELOCITY};
float pitch_angle_pid[3] = {
KP_CHASSIS_PITCH_ANGLE, KI_CHASSIS_PITCH_ANGLE, KD_CHASSIS_PITCH_ANGLE};
// float pitch_velocity_pid[3] = {
// KP_CHASSIS_PITCH_VELOCITY, KI_CHASSIS_PITCH_VELOCITY, KD_CHASSIS_PITCH_VELOCITY};
float leg_length_length_pid[3] = {
KP_CHASSIS_LEG_LENGTH_LENGTH, KI_CHASSIS_LEG_LENGTH_LENGTH, KD_CHASSIS_LEG_LENGTH_LENGTH};
// float leg_length_speed_pid[3] = {
// KP_CHASSIS_LEG_LENGTH_SPEED, KI_CHASSIS_LEG_LENGTH_SPEED, KD_CHASSIS_LEG_LENGTH_SPEED};
float leg_angle_angle_pid[3] = {
KP_CHASSIS_LEG_ANGLE_ANGLE, KI_CHASSIS_LEG_ANGLE_ANGLE, KD_CHASSIS_LEG_ANGLE_ANGLE};
PID_init(
&CHASSIS.pid.yaw_angle, PID_POSITION, yaw_angle_pid, MAX_OUT_CHASSIS_YAW_ANGLE,
MAX_IOUT_CHASSIS_YAW_ANGLE);
PID_init(
&CHASSIS.pid.yaw_velocity, PID_POSITION, yaw_velocity_pid, MAX_OUT_CHASSIS_YAW_VELOCITY,
MAX_IOUT_CHASSIS_YAW_VELOCITY);
PID_init(
&CHASSIS.pid.roll_angle, PID_POSITION, roll_angle_pid, MAX_OUT_CHASSIS_ROLL_ANGLE,
MAX_IOUT_CHASSIS_ROLL_ANGLE);
PID_init(
&CHASSIS.pid.pitch_angle, PID_POSITION, pitch_angle_pid, MAX_OUT_CHASSIS_PITCH_ANGLE,
MAX_IOUT_CHASSIS_PITCH_ANGLE);
// PID_init(
// &CHASSIS.pid.pitch_vel, PID_POSITION, pitch_velocity_pid, MAX_OUT_CHASSIS_PITCH_VELOCITY,
// MAX_IOUT_CHASSIS_PITCH_VELOCITY);
// PID_init(
// &CHASSIS.pid.roll_velocity, PID_POSITION, roll_velocity_pid, MAX_OUT_CHASSIS_ROLL_VELOCITY,
// MAX_IOUT_CHASSIS_ROLL_VELOCITY);
PID_init(
&CHASSIS.pid.leg_length_length[0], PID_POSITION, leg_length_length_pid,
MAX_OUT_CHASSIS_LEG_LENGTH_LENGTH, MAX_IOUT_CHASSIS_LEG_LENGTH_LENGTH);
// PID_init(
// &CHASSIS.pid.leg_length_left_speed, PID_POSITION, leg_length_speed_pid,
// MAX_OUT_CHASSIS_LEG_LENGTH_SPEED, MAX_IOUT_CHASSIS_LEG_LENGTH_SPEED);
PID_init(
&CHASSIS.pid.leg_length_length[1], PID_POSITION, leg_length_length_pid,
MAX_OUT_CHASSIS_LEG_LENGTH_LENGTH, MAX_IOUT_CHASSIS_LEG_LENGTH_LENGTH);
// PID_init(
// &CHASSIS.pid.leg_length_right_speed, PID_POSITION, leg_length_speed_pid,
// MAX_OUT_CHASSIS_LEG_LENGTH_SPEED, MAX_IOUT_CHASSIS_LEG_LENGTH_SPEED);
PID_init(
&CHASSIS.pid.leg_angle_angle, PID_POSITION, leg_angle_angle_pid,
MAX_OUT_CHASSIS_LEG_ANGLE_ANGLE, MAX_IOUT_CHASSIS_LEG_ANGLE_ANGLE);
// 初始化低通滤波器
LowPassFilterInit(&CHASSIS.lpf.leg_length_accel_filter[0], LEG_DDLENGTH_LPF_ALPHA);
LowPassFilterInit(&CHASSIS.lpf.leg_length_accel_filter[1], LEG_DDLENGTH_LPF_ALPHA);
LowPassFilterInit(&CHASSIS.lpf.leg_angle_accel_filter[0], LEG_DDANGLE_LPF_ALPHA);
LowPassFilterInit(&CHASSIS.lpf.leg_angle_accel_filter[1], LEG_DDANGLE_LPF_ALPHA);
LowPassFilterInit(&CHASSIS.lpf.support_force_filter[0], LEG_SUPPORT_FORCE_LPF_ALPHA);
LowPassFilterInit(&CHASSIS.lpf.support_force_filter[1], LEG_SUPPORT_FORCE_LPF_ALPHA);
}
/*-------------------- Handle exception --------------------*/
static void GroundTouchDectect(void);
/**
* @brief 异常处理
* @param[in] none
* @retval none
*/
void ChassisHandleException(void)
{
if (toe_is_error(DBUS_TOE)) {
CHASSIS.error_code |= DBUS_ERROR_OFFSET;
} else {
CHASSIS.error_code &= ~DBUS_ERROR_OFFSET;
}
if (CHASSIS.imu == NULL) {
CHASSIS.error_code |= IMU_ERROR_OFFSET;
} else {
CHASSIS.error_code &= ~IMU_ERROR_OFFSET;
}
for (uint8_t i = 0; i < 4; i++) {
if (fabs(CHASSIS.joint_motor[i].fdb.tor) > MAX_TORQUE_PROTECT) {
CHASSIS.error_code |= JOINT_ERROR_OFFSET;
break;
}
}
GroundTouchDectect(); // 离地检测
}
/**
* @brief 离地检测
* @param
*/
static void GroundTouchDectect(void)
{
for (uint8_t i = 0; i < 2; i++) {
float Theta = CHASSIS.fdb.leg[i].rod.Angle - M_PI_2 - CHASSIS.imu->pitch;
float dTheta = CHASSIS.fdb.leg[i].rod.dAngle - CHASSIS.imu->pitch_vel;
float ddTheta = CHASSIS.fdb.leg[i].rod.ddAngle;
float L0 = CHASSIS.fdb.leg[i].rod.Length;
float dL0 = CHASSIS.fdb.leg[i].rod.dLength;
float ddL0 = CHASSIS.fdb.leg[i].rod.ddLength;
float ddz_M = CHASSIS.imu->z_accel - GRAVITY;
float ddz_w = ddz_M - ddL0 * cosf(Theta) + 2 * dL0 * dTheta * sinf(Theta) +
L0 * ddTheta * sinf(Theta) + L0 * dTheta * dTheta * cosf(Theta);
float F = CHASSIS.ref.leg[i].rod.F;
float Tp = CHASSIS.ref.leg[i].rod.Tp;
float P = F * cosf(Theta) + Tp * sinf(Theta) / L0;
float Fn = P + WHEEL_MASS * GRAVITY + WHEEL_MASS * ddz_w;
GROUND_TOUCH.support_force[i] = LowPassFilterCalc(&CHASSIS.lpf.support_force_filter[i], Fn);
// if (i == 1) {
// OutputPCData.packets[15].data = P;
// OutputPCData.packets[16].data = WHEEL_MASS * GRAVITY;
// OutputPCData.packets[17].data = ddz_w;
// OutputPCData.packets[18].data = Theta;
// OutputPCData.packets[19].data = F;
// OutputPCData.packets[20].data = Tp;
// }
}
// GROUND_TOUCH.support_force[0] =
// CHASSIS.ref.leg[0].rod.F +
// LEG_MASS * (GRAVITY - (CHASSIS.fdb.leg[0].rod.ddLength - CHASSIS.imu->z_accel));
// bool touch = false;
uint32_t now = HAL_GetTick();
if (now - GROUND_TOUCH.touch_time < MAX_TOUCH_INTERVAL) {
//若上次触地时间距离现在不超过 MAX_TOUCH_INTERVAL ms，则认为当前瞬间接地，避免弹跳导致误判
GROUND_TOUCH.touch = true;
} else {
GROUND_TOUCH.touch = false;
}
}
/*-------------------- Set mode --------------------*/
/**
* @brief 设置模式
* @param[in] none
* @retval none
*/
void ChassisSetMode(void)
{
if (CHASSIS.error_code & DBUS_ERROR_OFFSET) { // 遥控器出错时的状态处理
CHASSIS.mode = CHASSIS_ZERO_FORCE;
return;
}
if (CHASSIS.error_code & IMU_ERROR_OFFSET) { // IMU出错时的状态处理
CHASSIS.mode = CHASSIS_ZERO_FORCE;
return;
}
if (CHASSIS.error_code & JOINT_ERROR_OFFSET) { // 关节电机出错时的状态处理
CHASSIS.mode = CHASSIS_ZERO_FORCE;
return;
}
if (CHASSIS.mode == CHASSIS_CALIBRATE && (!CALIBRATE.calibrated)) { //校准完成后才退出校准
return;
}
if (switch_is_down(CHASSIS.rc->rc.s[0]) && switch_is_down(CHASSIS.rc->rc.s[1]) &&
CALIBRATE.cali_cnt > 100) { // 切入底盘校准
CHASSIS.mode = CHASSIS_CALIBRATE;
CALIBRATE.calibrated = false;
uint32_t now = HAL_GetTick();
for (uint8_t i = 0; i < 4; i++) {
CALIBRATE.reached[i] = false;
CALIBRATE.stpo_time[i] = now;
}
return;
}
if (switch_is_up(CHASSIS.rc->rc.s[CHASSIS_MODE_CHANNEL])) {
CHASSIS.mode = CHASSIS_FREE;
} else if (switch_is_mid(CHASSIS.rc->rc.s[CHASSIS_MODE_CHANNEL])) {
CHASSIS.mode = CHASSIS_DEBUG; // use for test, delete when release
} else if (switch_is_down(CHASSIS.rc->rc.s[CHASSIS_MODE_CHANNEL])) {
CHASSIS.mode = CHASSIS_ZERO_FORCE;
}
}
/*-------------------- Observe --------------------*/
#define ZERO_POS_THRESHOLD 0.001f
static void UpdateLegStatus(void);
static void UpdateMotorStatus(void);
/**
* @brief 更新状态量
* @param[in] none
* @retval none
*/
void ChassisObserver(void)
{
UpdateMotorStatus();
UpdateLegStatus();
// 更新校准相关的数据
if ((CHASSIS.rc->rc.ch[0] < -655) && (CHASSIS.rc->rc.ch[1] < -655) &&
(CHASSIS.rc->rc.ch[2] > 655) && (CHASSIS.rc->rc.ch[3] < -655)) {
CALIBRATE.cali_cnt++; // 遥控器下内八进入底盘校准
} else {
CALIBRATE.cali_cnt = 0;
}
if ((CHASSIS.mode == CHASSIS_CALIBRATE) &&
fabs(CHASSIS.joint_motor[0].fdb.pos) < ZERO_POS_THRESHOLD &&
fabs(CHASSIS.joint_motor[1].fdb.pos) < ZERO_POS_THRESHOLD &&
fabs(CHASSIS.joint_motor[2].fdb.pos) < ZERO_POS_THRESHOLD &&
fabs(CHASSIS.joint_motor[3].fdb.pos) < ZERO_POS_THRESHOLD) {
CALIBRATE.calibrated = true;
}
// 更新fdb数据
CHASSIS.fdb.roll = CHASSIS.imu->roll;
CHASSIS.fdb.roll_velocity = CHASSIS.imu->roll_vel;
CHASSIS.fdb.yaw = CHASSIS.imu->yaw;
CHASSIS.fdb.yaw_velocity = CHASSIS.imu->yaw_vel;
// 更新LQR状态向量
// clang-format off
CHASSIS.fdb.theta = (CHASSIS.fdb.leg[0].rod.Angle + CHASSIS.fdb.leg[1].rod.Angle) / 2
- M_PI_2 - CHASSIS.imu->pitch;
CHASSIS.fdb.theta_dot = (CHASSIS.fdb.leg[0].rod.dAngle + CHASSIS.fdb.leg[1].rod.dAngle) / 2
- CHASSIS.imu->pitch_vel;
CHASSIS.fdb.x = (CHASSIS.fdb.leg[0].wheel.Angle + CHASSIS.fdb.leg[1].wheel.Angle) / 2;
CHASSIS.fdb.x_dot = WHEEL_RADIUS * (CHASSIS.fdb.leg[0].wheel.Velocity + CHASSIS.fdb.leg[1].wheel.Velocity) / 2;
CHASSIS.fdb.phi = CHASSIS.imu->pitch;
CHASSIS.fdb.phi_dot = CHASSIS.imu->pitch_vel;
// clang-format on
uint32_t now = HAL_GetTick();
if (CHASSIS.mode == CHASSIS_CALIBRATE) {
for (uint8_t i = 0; i < 4; i++) {
CALIBRATE.velocity[i] = CHASSIS.joint_motor[i].fdb.vel;
if (CALIBRATE.velocity[i] > CALIBRATE_STOP_VELOCITY) { // 速度大于阈值时重置计时
CALIBRATE.reached[i] = false;
CALIBRATE.stpo_time[i] = now;
} else {
if (now - CALIBRATE.stpo_time[i] > CALIBRATE_STOP_TIME) {
CALIBRATE.reached[i] = true;
}
}
}
}
// OutputPCData.packets[0].data = CHASSIS.fdb.leg[0].rod.Length;
// OutputPCData.packets[1].data = CHASSIS.ref.leg[0].rod.Length;
// OutputPCData.packets[2].data = CHASSIS.fdb.leg[1].rod.Length;
// OutputPCData.packets[3].data = CHASSIS.ref.leg[1].rod.Length;
OutputPCData.packets[4].data = CHASSIS.joint_motor[0].fdb.tor;
OutputPCData.packets[5].data = CHASSIS.joint_motor[1].fdb.tor;
OutputPCData.packets[6].data = CHASSIS.joint_motor[2].fdb.tor;
OutputPCData.packets[7].data = CHASSIS.joint_motor[3].fdb.tor;
OutputPCData.packets[8].data = CHASSIS.pid.leg_length_length[0].out;
OutputPCData.packets[9].data = CHASSIS.joint_motor[0].set.tor;
OutputPCData.packets[10].data = CHASSIS.joint_motor[1].set.tor;
OutputPCData.packets[11].data = CHASSIS.joint_motor[2].set.tor;
OutputPCData.packets[12].data = CHASSIS.joint_motor[3].set.tor;
OutputPCData.packets[13].data = GROUND_TOUCH.support_force[0];
OutputPCData.packets[14].data = GROUND_TOUCH.support_force[1];
OutputPCData.packets[15].data = CHASSIS.imu->roll;
// OutputPCData.packets[16].data = CHASSIS.fdb.leg[0].wheel.Velocity;
// OutputPCData.packets[17].data = CHASSIS.fdb.leg[1].wheel.Velocity;
// OutputPCData.packets[18].data = CHASSIS.wheel_motor[0].set.tor;
// OutputPCData.packets[19].data = CHASSIS.wheel_motor[1].set.tor;
// OutputPCData.packets[20].data = CHASSIS.imu->z_accel;
}
/**
* @brief 更新底盘电机数据
* @param none
*/
static void UpdateMotorStatus(void)
{
for (uint8_t i = 0; i < 4; i++) {
GetMotorMeasure(&CHASSIS.joint_motor[i]);
}
for (uint8_t i = 0; i < 2; i++) {
GetMotorMeasure(&CHASSIS.wheel_motor[i]);
}
}
/**
* @brief 更新腿部状态
* @param none
*/
static void UpdateLegStatus(void)
{
// =====更新关节姿态=====
CHASSIS.fdb.leg[0].joint[0].Angle =
theta_transform(CHASSIS.joint_motor[0].fdb.pos, J0_ANGLE_OFFSET, J0_DIRECTION, 1);
CHASSIS.fdb.leg[0].joint[1].Angle =
theta_transform(CHASSIS.joint_motor[1].fdb.pos, J1_ANGLE_OFFSET, J1_DIRECTION, 1);
CHASSIS.fdb.leg[1].joint[0].Angle =
theta_transform(CHASSIS.joint_motor[2].fdb.pos, J2_ANGLE_OFFSET, J2_DIRECTION, 1);
CHASSIS.fdb.leg[1].joint[1].Angle =
theta_transform(CHASSIS.joint_motor[3].fdb.pos, J3_ANGLE_OFFSET, J3_DIRECTION, 1);
CHASSIS.fdb.leg[0].joint[0].dAngle = CHASSIS.joint_motor[0].fdb.vel;
CHASSIS.fdb.leg[0].joint[1].dAngle = CHASSIS.joint_motor[1].fdb.vel;
CHASSIS.fdb.leg[1].joint[0].dAngle = CHASSIS.joint_motor[2].fdb.vel;
CHASSIS.fdb.leg[1].joint[1].dAngle = CHASSIS.joint_motor[3].fdb.vel;
// =====更新驱动轮姿态=====
CHASSIS.fdb.leg[0].wheel.Velocity = CHASSIS.wheel_motor[0].fdb.vel * (W0_DIRECTION);
CHASSIS.fdb.leg[1].wheel.Velocity = CHASSIS.wheel_motor[1].fdb.vel * (W1_DIRECTION);
// =====更新摆杆姿态=====
double leg_pos[2];
double leg_speed[2];
float last_dLength, last_dAngle;
for (uint8_t i = 0; i < 2; i++) {
// 更新位置信息
LegFKine(CHASSIS.fdb.leg[i].joint[1].Angle, CHASSIS.fdb.leg[i].joint[0].Angle, leg_pos);
CHASSIS.fdb.leg[i].rod.Length = leg_pos[0];
CHASSIS.fdb.leg[i].rod.Angle = leg_pos[1];
// 更新速度信息
// clang-format off
last_dLength = CHASSIS.fdb.leg[i].rod.dLength;
last_dAngle = CHASSIS.fdb.leg[i].rod.dAngle;
LegSpeed(
CHASSIS.fdb.leg[i].joint[1].dAngle, CHASSIS.fdb.leg[i].joint[0].dAngle,
CHASSIS.fdb.leg[i].joint[1].Angle , CHASSIS.fdb.leg[i].joint[0].Angle,
leg_speed);
CHASSIS.fdb.leg[i].rod.dLength = leg_speed[0];
CHASSIS.fdb.leg[i].rod.dAngle = leg_speed[1];
// clang-format on
// 更新加速度信息
float accel = (CHASSIS.fdb.leg[i].rod.dLength - last_dLength) / CHASSIS_CONTROL_TIME_S;
CHASSIS.fdb.leg[i].rod.ddLength =
LowPassFilterCalc(&CHASSIS.lpf.leg_length_accel_filter[i], accel);
accel = (CHASSIS.fdb.leg[i].rod.dAngle - last_dAngle) / CHASSIS_CONTROL_TIME_S;
CHASSIS.fdb.leg[i].rod.ddAngle =
LowPassFilterCalc(&CHASSIS.lpf.leg_angle_accel_filter[i], accel);
}
}
/*-------------------- Reference --------------------*/
/**
* @brief 更新目标量
* @param[in] none
* @retval none
*/
void ChassisReference(void)
{
int16_t rc_x = 0, rc_wz = 0;
int16_t rc_length = 0, rc_roll = 0, rc_angle = 0;
rc_deadband_limit(CHASSIS.rc->rc.ch[CHASSIS_X_CHANNEL], rc_x, CHASSIS_RC_DEADLINE);
rc_deadband_limit(CHASSIS.rc->rc.ch[CHASSIS_WZ_CHANNEL], rc_wz, CHASSIS_RC_DEADLINE);
rc_deadband_limit(CHASSIS.rc->rc.ch[CHASSIS_LENGTH_CHANNEL], rc_length, CHASSIS_RC_DEADLINE);
rc_deadband_limit(CHASSIS.rc->rc.ch[CHASSIS_ANGLE_CHANNEL], rc_angle, CHASSIS_RC_DEADLINE);
rc_deadband_limit(CHASSIS.rc->rc.ch[CHASSIS_ROLL_CHANNEL], rc_roll, CHASSIS_RC_DEADLINE);
ChassisSpeedVector_t v_set = {0.0f, 0.0f, 0.0f};
v_set.vx = rc_x * RC_TO_ONE * MAX_SPEED_VECTOR_VX;
v_set.vy = 0;
v_set.wz = -rc_wz * RC_TO_ONE * MAX_SPEED_VECTOR_WZ;
switch (CHASSIS.mode) {
case CHASSIS_FREE: { // 底盘自由模式下，控制量为底盘坐标系下的速度
break;
}
case CHASSIS_FOLLOW_GIMBAL_YAW: { // 云台跟随模式下，控制量为云台坐标系下的速度，需要进行坐标转换
GimbalSpeedVectorToChassisSpeedVector(&v_set, CHASSIS.dyaw);
break;
}
case CHASSIS_AUTO: { // 底盘自动模式，控制量为云台坐标系下的速度，需要进行坐标转换
break;
}
default:
break;
}
float v = v_set.vx;
float x;
if (fabs(v) > WHEEL_DEADZONE) { // 运动状态，只需控制速度
x = CHASSIS.fdb.x;
} else {
if (CHASSIS.ref.speed_vector.vx > WHEEL_DEADZONE) {
// 进入停止状态，需要加入位置控制
x = (CHASSIS.fdb.leg[0].wheel.Angle + CHASSIS.fdb.leg[1].wheel.Angle) / 2;
} else { // 还是停止状态，保留原位置
x = CHASSIS.ref.x;
}
}
CHASSIS.ref.speed_vector.vx = v_set.vx;
CHASSIS.ref.speed_vector.vy = 0;
CHASSIS.ref.speed_vector.wz = v_set.wz;
// clang-format off
CHASSIS.ref.theta = 0;
CHASSIS.ref.theta_dot = 0;
CHASSIS.ref.x = x;
CHASSIS.ref.x_dot = fp32_constrain(CHASSIS.ref.speed_vector.vx, MIN_SPEED, MAX_SPEED);
CHASSIS.ref.phi = 0;
CHASSIS.ref.phi_dot = 0;
// clang-format on
static float vel_add = 0; // 速度增量，用于适应重心位置变化
if (fabs(CHASSIS.ref.x_dot) < WHEEL_DEADZONE && fabs(CHASSIS.fdb.x_dot) < 0.8f) {
// 当目标速度为0，且速度小于阈值时，增加速度增量
vel_add -= CHASSIS.fdb.x_dot * VEL_ADD_RATIO;
}
vel_add = fp32_constrain(vel_add, MIN_VEL_ADD, MAX_VEL_ADD);
CHASSIS.ref.x_dot += vel_add;
float angle = M_PI_2;
float length = 0.15f;
switch (CHASSIS.mode) {
case CHASSIS_DEBUG: {
angle = M_PI_2 + rc_angle * RC_TO_ONE * 0.3f;
}
case CHASSIS_FREE: {
length = rc_length * RC_TO_ONE * (MAX_LEG_LENGTH - MIN_LEG_LENGTH) / 2 +
(MAX_LEG_LENGTH + MIN_LEG_LENGTH) / 2;
} break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
default: {
angle = M_PI_2;
length = 0.23f;
}
}
CHASSIS.ref.leg[0].rod.Length = fp32_constrain(length, MIN_LEG_LENGTH, MAX_LEG_LENGTH);
CHASSIS.ref.leg[1].rod.Length = fp32_constrain(length, MIN_LEG_LENGTH, MAX_LEG_LENGTH);
CHASSIS.ref.leg[0].rod.Angle = angle;
CHASSIS.ref.leg[1].rod.Angle = angle;
CHASSIS.ref.roll = fp32_constrain(rc_roll * RC_TO_ONE * MAX_ROLL, MIN_ROLL, MAX_ROLL);
}
/*-------------------- Console --------------------*/
static void LocomotionController(float Tp[2], float T_w[2]);
#if LOCATION_CONTROL
static void LegController(double joint_pos_l[2], double joint_pos_r[2]);
#else
static void LegController(float F[2]);
#endif
static float LegFeedForward(float theta);
static void SetK(float leg_length, float k[2][6]);
static void LQRFeedbackCalc(float k[2][6], float x[6], float t[2]);
static void ConsoleZeroForce(void);
static void ConsoleDebug(void);
static void ConsoleCalibrate(void);
static void ConsoleNormal(void);
/**
* @brief 计算控制量
* @param[in] none
* @retval none
*/
void ChassisConsole(void)
{
switch (CHASSIS.mode) {
case CHASSIS_CALIBRATE: {
ConsoleCalibrate();
} break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
case CHASSIS_SPIN:
case CHASSIS_FREE: {
ConsoleNormal();
} break;
case CHASSIS_DEBUG: {
ConsoleDebug();
} break;
case CHASSIS_OFF:
case CHASSIS_ZERO_FORCE:
default: {
ConsoleZeroForce();
}
}
}
/**
* @brief 运动控制器
* @param[out] Tp 输出的髋关节力矩 0-左，1-右
* @param[out] T_w 输出的驱动轮力矩 0-左，1-右
*/
static void LocomotionController(float Tp[2], float T_w[2])
{
float x[6];
// clang-format off
x[0] = CHASSIS.fdb.theta - CHASSIS.ref.theta;
x[1] = CHASSIS.fdb.theta_dot - CHASSIS.ref.theta_dot;
x[2] = CHASSIS.fdb.x - CHASSIS.ref.x;
x[3] = CHASSIS.fdb.x_dot - CHASSIS.ref.x_dot;
x[4] = CHASSIS.fdb.phi - CHASSIS.ref.phi;
x[5] = CHASSIS.fdb.phi_dot - CHASSIS.ref.phi_dot;
// clang-format on
float leg_length = (CHASSIS.fdb.leg[0].rod.Length + CHASSIS.fdb.leg[1].rod.Length) / 2;
float k[2][6];
SetK(leg_length, k);
float t_tp[2];
LQRFeedbackCalc(k, x, t_tp);
float t = t_tp[0] * CHASSIS.ratio.T;
float tp = t_tp[1] * CHASSIS.ratio.Tp;
float dyaw;
dyaw = CHASSIS.ref.yaw - CHASSIS.fdb.yaw;
if (dyaw > M_PI) {
dyaw -= 2 * M_PI;
} else if (dyaw < -M_PI) {
dyaw += 2 * M_PI;
}
if (CHASSIS.mode == CHASSIS_FOLLOW_GIMBAL_YAW) {
//这里输入的dyaw是需要取反的原因还不是很清楚
PID_calc(&CHASSIS.pid.yaw_angle, -dyaw, 0);
PID_calc(&CHASSIS.pid.yaw_velocity, CHASSIS.fdb.yaw_velocity, CHASSIS.pid.yaw_angle.out);
} else {
PID_calc(&CHASSIS.pid.yaw_velocity, CHASSIS.fdb.yaw_velocity, CHASSIS.ref.speed_vector.wz);
}
float dangle = CHASSIS.fdb.leg[0].rod.Angle - CHASSIS.fdb.leg[1].rod.Angle;
PID_calc(&CHASSIS.pid.leg_angle_angle, dangle, 0);
T_w[0] = t + CHASSIS.pid.yaw_velocity.out;
T_w[1] = t - CHASSIS.pid.yaw_velocity.out;
Tp[0] = tp + CHASSIS.pid.leg_angle_angle.out;
Tp[1] = tp - CHASSIS.pid.leg_angle_angle.out;
}
/**
* @brief 前馈控制
* @param[in] theta 当前腿与竖直方向夹角
* @return 前馈量
*/
static float LegFeedForward(float theta) { return BODY_MASS * GRAVITY * cosf(theta) / 2; }
/**
* @brief 设置LQR的反馈矩阵K
* @param[in] leg_length 当前腿长
* @param[out] k 返回的反馈矩阵指针
* @return none
*/
static void SetK(float leg_length, float k[2][6])
{
double k_res[12] = {0};
L2K(leg_length, k_res);
for (int i = 0; i < 6; i++) {
for (int j = 0; j < 2; j++) {
k[j][i] = k_res[i * 2 + j] * CHASSIS.ratio.k[j][i];
}
}
}
/**
* @brief 矩阵相乘，计算LQR输出
* @param[in] k LQR反馈矩阵K
* @param[in] x 状态变量向量
* @param[out] t 反馈数据T和Tp
* @return none
* @note T为t[0],Tp为t[1]
*/
static void LQRFeedbackCalc(float k[2][6], float x[6], float t[2])
{
t[0] = k[0][0] * x[0] + k[0][1] * x[1] + k[0][2] * x[2] + k[0][3] * x[3] + k[0][4] * x[4] +
k[0][5] * x[5];
t[1] = k[1][0] * x[0] + k[1][1] * x[1] + k[1][2] * x[2] + k[1][3] * x[3] + k[1][4] * x[4] +
k[1][5] * x[5];
}
#if LOCATION_CONTROL
/**
* @brief 腿部控制器
* @param[out] joint_pos_l 左关节电机设定位置 0-后，1-前
* @param[out] joint_pos_r 右关节电机设定位置 0-后，1-前
*/
static void LegController(double joint_pos_l[2], double joint_pos_r[2])
{
static float delta_Angle = 0;
float dAngle = CHASSIS.fdb.phi_dot * PITCH_VEL_RATIO;
float dAngle_1 = PID_calc(&CHASSIS.pid.pitch_angle, CHASSIS.fdb.phi, CHASSIS.ref.phi);
// float dAngle_2 = PID_calc(&CHASSIS.pid.pitch_vel, CHASSIS.fdb.phi_dot, CHASSIS.ref.phi_dot);
delta_Angle += (dAngle + dAngle_1) * CHASSIS_CONTROL_TIME_S;
delta_Angle = fp32_constrain(delta_Angle, MIN_DELTA_ROD_ANGLE, MAX_DELTA_ROD_ANGLE);
// float delta_Angle = PID_calc(&CHASSIS.pid.pitch_angle, CHASSIS.fdb.phi, CHASSIS.ref.phi);
CHASSIS.ref.leg[0].rod.Angle = M_PI_2 + delta_Angle;
CHASSIS.ref.leg[1].rod.Angle = M_PI_2 + delta_Angle;
CHASSIS.ref.leg[0].rod.Angle =
fp32_constrain(CHASSIS.ref.leg[0].rod.Angle, MIN_LEG_ANGLE, MAX_LEG_ANGLE);
CHASSIS.ref.leg[1].rod.Angle =
fp32_constrain(CHASSIS.ref.leg[1].rod.Angle, MIN_LEG_ANGLE, MAX_LEG_ANGLE);
float delta_Length =
PID_calc(&CHASSIS.pid.roll_angle, CHASSIS.fdb.roll, CHASSIS.ref.roll); // 腿长补偿
CHASSIS.ref.leg[0].rod.Length += delta_Length * DLENGTH_DIRECTION;
CHASSIS.ref.leg[1].rod.Length -= delta_Length * DLENGTH_DIRECTION;
CHASSIS.ref.leg[0].rod.Length =
fp32_constrain(CHASSIS.ref.leg[0].rod.Length, MIN_LEG_LENGTH, MAX_LEG_LENGTH);
CHASSIS.ref.leg[1].rod.Length =
fp32_constrain(CHASSIS.ref.leg[1].rod.Length, MIN_LEG_LENGTH, MAX_LEG_LENGTH);
LegIKine(CHASSIS.ref.leg[0].rod.Length, CHASSIS.ref.leg[0].rod.Angle, joint_pos_l);
LegIKine(CHASSIS.ref.leg[1].rod.Length, CHASSIS.ref.leg[1].rod.Angle, joint_pos_r);
}
#else
/**
* @brief 腿部控制器
* @param[out] F 输出的腿部沿杆方向的力F 0-左，1-右
*/
static void LegController(float F[2])
{
PID_calc(
&CHASSIS.pid.leg_length_length[0], CHASSIS.fdb.leg[0].rod.Length,
CHASSIS.ref.leg[0].rod.Length);
float theta_l = CHASSIS.fdb.leg[0].rod.Angle - M_PI_2 - CHASSIS.imu->pitch;
float fdf_left = LegFeedForward(theta_l) * FF_RATIO;
PID_calc(
&CHASSIS.pid.leg_length_length[1], CHASSIS.fdb.leg[1].rod.Length,
CHASSIS.ref.leg[1].rod.Length);
float theta_r = CHASSIS.fdb.leg[1].rod.Angle - M_PI_2 - CHASSIS.imu->pitch;
float fdf_right = LegFeedForward(theta_r) * FF_RATIO;
PID_calc(&CHASSIS.pid.roll_angle, CHASSIS.fdb.roll, CHASSIS.ref.roll);
// PID_calc(&CHASSIS.pid.roll_velocity, CHASSIS.fdb.roll_velocity, CHASSIS.pid.roll_angle.out);
F[0] = CHASSIS.pid.leg_length_length[0].out + fdf_left + CHASSIS.pid.roll_angle.out;
F[1] = CHASSIS.pid.leg_length_length[1].out + fdf_right - CHASSIS.pid.roll_angle.out;
}
#endif
//* 各个模式下的控制
static void ConsoleZeroForce(void)
{
CHASSIS.joint_motor[0].set.tor = 0;
CHASSIS.joint_motor[1].set.tor = 0;
CHASSIS.joint_motor[2].set.tor = 0;
CHASSIS.joint_motor[3].set.tor = 0;
CHASSIS.joint_motor[0].set.vel = 0;
CHASSIS.joint_motor[1].set.vel = 0;
CHASSIS.joint_motor[2].set.vel = 0;
CHASSIS.joint_motor[3].set.vel = 0;
CHASSIS.wheel_motor[0].set.tor = 0;
CHASSIS.wheel_motor[1].set.tor = 0;
}
static void ConsoleCalibrate(void)
{
CHASSIS.joint_motor[0].set.vel = -CALIBRATE_VELOCITY;
CHASSIS.joint_motor[1].set.vel = CALIBRATE_VELOCITY;
CHASSIS.joint_motor[2].set.vel = CALIBRATE_VELOCITY;
CHASSIS.joint_motor[3].set.vel = -CALIBRATE_VELOCITY;
CHASSIS.wheel_motor[0].set.tor = 0;
CHASSIS.wheel_motor[1].set.tor = 0;
}
static void ConsoleDebug(void)
{
#if LOCATION_CONTROL
double joint_pos_l[2], joint_pos_r[2];
LegIKine(CHASSIS.ref.leg[0].rod.Length, CHASSIS.ref.leg[0].rod.Angle, joint_pos_l);
LegIKine(CHASSIS.ref.leg[1].rod.Length, CHASSIS.ref.leg[1].rod.Angle, joint_pos_r);
// 当解算出的角度正常时，设置目标角度
if (!(isnan(joint_pos_l[0]) || isnan(joint_pos_l[1]) || isnan(joint_pos_r[0]) ||
isnan(joint_pos_r[1]))) {
CHASSIS.joint_motor[0].set.pos =
theta_transform(joint_pos_l[1], -J0_ANGLE_OFFSET, J0_DIRECTION, 1);
CHASSIS.joint_motor[1].set.pos =
theta_transform(joint_pos_l[0], -J1_ANGLE_OFFSET, J1_DIRECTION, 1);
CHASSIS.joint_motor[2].set.pos =
theta_transform(joint_pos_r[1], -J2_ANGLE_OFFSET, J2_DIRECTION, 1);
CHASSIS.joint_motor[3].set.pos =
theta_transform(joint_pos_r[0], -J3_ANGLE_OFFSET, J3_DIRECTION, 1);
}
// 检测设定角度是否超过电机角度限制
CHASSIS.joint_motor[0].set.pos =
fp32_constrain(CHASSIS.joint_motor[0].set.pos, MIN_J0_ANGLE, MAX_J0_ANGLE);
CHASSIS.joint_motor[1].set.pos =
fp32_constrain(CHASSIS.joint_motor[1].set.pos, MIN_J1_ANGLE, MAX_J1_ANGLE);
CHASSIS.joint_motor[2].set.pos =
fp32_constrain(CHASSIS.joint_motor[2].set.pos, MIN_J2_ANGLE, MAX_J2_ANGLE);
CHASSIS.joint_motor[3].set.pos =
fp32_constrain(CHASSIS.joint_motor[3].set.pos, MIN_J3_ANGLE, MAX_J3_ANGLE);
#endif
CHASSIS.wheel_motor[0].set.tor = CHASSIS.rc->rc.ch[4] * RC_TO_ONE * 1 * (W0_DIRECTION);
CHASSIS.wheel_motor[1].set.tor = CHASSIS.rc->rc.ch[4] * RC_TO_ONE * 1 * (W1_DIRECTION);
}
static void ConsoleNormal(void)
{
float tp[2], t[2];
LocomotionController(tp, t);
CHASSIS.ref.leg[0].rod.Tp = -tp[0];
CHASSIS.ref.leg[1].rod.Tp = -tp[1];
#if LOCATION_CONTROL
double joint_pos_l[2], joint_pos_r[2];
LegController(joint_pos_l, joint_pos_r);
// 当解算出的角度正常时，设置目标角度
if (!(isnan(joint_pos_l[0]) || isnan(joint_pos_l[1]) || isnan(joint_pos_r[0]) ||
isnan(joint_pos_r[1]))) {
CHASSIS.joint_motor[0].set.pos =
theta_transform(joint_pos_l[1], -J0_ANGLE_OFFSET, J0_DIRECTION, 1);
CHASSIS.joint_motor[1].set.pos =
theta_transform(joint_pos_l[0], -J1_ANGLE_OFFSET, J1_DIRECTION, 1);
CHASSIS.joint_motor[2].set.pos =
theta_transform(joint_pos_r[1], -J2_ANGLE_OFFSET, J2_DIRECTION, 1);
CHASSIS.joint_motor[3].set.pos =
theta_transform(joint_pos_r[0], -J3_ANGLE_OFFSET, J3_DIRECTION, 1);
}
// 检测设定角度是否超过电机角度限制
CHASSIS.joint_motor[0].set.pos =
fp32_constrain(CHASSIS.joint_motor[0].set.pos, MIN_J0_ANGLE, MAX_J0_ANGLE);
CHASSIS.joint_motor[1].set.pos =
fp32_constrain(CHASSIS.joint_motor[1].set.pos, MIN_J1_ANGLE, MAX_J1_ANGLE);
CHASSIS.joint_motor[2].set.pos =
fp32_constrain(CHASSIS.joint_motor[2].set.pos, MIN_J2_ANGLE, MAX_J2_ANGLE);
CHASSIS.joint_motor[3].set.pos =
fp32_constrain(CHASSIS.joint_motor[3].set.pos, MIN_J3_ANGLE, MAX_J3_ANGLE);
#else
float F[2];
LegController(F);
CHASSIS.ref.leg[0].rod.F = F[0];
CHASSIS.ref.leg[1].rod.F = F[1];
double joint_torque[2];
LegTransform(
CHASSIS.ref.leg[0].rod.F, CHASSIS.ref.leg[0].rod.Tp, CHASSIS.fdb.leg[0].joint[1].Angle,
CHASSIS.fdb.leg[0].joint[0].Angle, joint_torque);
CHASSIS.joint_motor[0].set.tor = -joint_torque[0] * (J0_DIRECTION);
CHASSIS.joint_motor[1].set.tor = -joint_torque[1] * (J1_DIRECTION);
LegTransform(
CHASSIS.ref.leg[1].rod.F, CHASSIS.ref.leg[1].rod.Tp, CHASSIS.fdb.leg[1].joint[1].Angle,
CHASSIS.fdb.leg[1].joint[0].Angle, joint_torque);
CHASSIS.joint_motor[2].set.tor = -joint_torque[0] * (J2_DIRECTION);
CHASSIS.joint_motor[3].set.tor = -joint_torque[1] * (J3_DIRECTION);
CHASSIS.joint_motor[0].set.tor = fp32_constrain(CHASSIS.joint_motor[0].set.tor, MIN_JOINT_TORQUE, MAX_JOINT_TORQUE);
CHASSIS.joint_motor[1].set.tor = fp32_constrain(CHASSIS.joint_motor[1].set.tor, MIN_JOINT_TORQUE, MAX_JOINT_TORQUE);
CHASSIS.joint_motor[2].set.tor = fp32_constrain(CHASSIS.joint_motor[2].set.tor, MIN_JOINT_TORQUE, MAX_JOINT_TORQUE);
CHASSIS.joint_motor[3].set.tor = fp32_constrain(CHASSIS.joint_motor[3].set.tor, MIN_JOINT_TORQUE, MAX_JOINT_TORQUE);
#endif
// QUESTION: 排查电机发送的力矩要反向的问题，这种情况下控制正常
CHASSIS.wheel_motor[0].set.tor = -(t[0] * (W0_DIRECTION)); //不知道为什么要反向，待后续研究
CHASSIS.wheel_motor[1].set.tor = -(t[1] * (W1_DIRECTION)); //不知道为什么要反向，待后续研究
}
/*-------------------- Cmd --------------------*/
#define CALIBRATE_VEL_KP 4.0f
#define DEBUG_VEL_KP 4.0f
#define ZERO_FORCE_VEL_KP 1.0f
#define NORMAL_POS_KP 25.0f
#define NORMAL_POS_KD 1.0f
#define DEBUG_POS_KP 8.0f
#define DEBUG_POS_KD 0.8f
static void SendJointMotorCmd(void);
static void SendWheelMotorCmd(void);
/**
* @brief 发送控制量
* @param[in] none
* @retval none
*/
void ChassisSendCmd(void)
{
SendJointMotorCmd();
SendWheelMotorCmd();
}
/**
* @brief 发送关节电机控制指令
* @param[in] chassis
*/
static void SendJointMotorCmd(void)
{
uint8_t cnt;
if (CHASSIS.mode == CHASSIS_OFF) {
DmMitStop(&CHASSIS.joint_motor[0]);
DmMitStop(&CHASSIS.joint_motor[1]);
delay_us(200);
DmMitStop(&CHASSIS.joint_motor[2]);
DmMitStop(&CHASSIS.joint_motor[3]);
} else {
bool flag = false;
for (uint8_t i = 0; i < 4; i++) {
if (cnt % 2 == 0) {
delay_us(200);
}
if (CHASSIS.joint_motor[i].fdb.state == DM_STATE_DISABLE) {
DmEnable(&CHASSIS.joint_motor[i]);
flag = true;
cnt++;
}
}
if (flag) {
delay_us(200);
}
switch (CHASSIS.mode) {
case CHASSIS_FOLLOW_GIMBAL_YAW:
case CHASSIS_SPIN:
case CHASSIS_FREE: {
#if LOCATION_CONTROL
DmMitCtrlPosition(&CHASSIS.joint_motor[0], NORMAL_POS_KP, NORMAL_POS_KD);
DmMitCtrlPosition(&CHASSIS.joint_motor[1], NORMAL_POS_KP, NORMAL_POS_KD);
delay_us(200);
DmMitCtrlPosition(&CHASSIS.joint_motor[2], NORMAL_POS_KP, NORMAL_POS_KD);
DmMitCtrlPosition(&CHASSIS.joint_motor[3], NORMAL_POS_KP, NORMAL_POS_KD);
#else
DmMitCtrlTorque(&CHASSIS.joint_motor[0]);
DmMitCtrlTorque(&CHASSIS.joint_motor[1]);
delay_us(200);
DmMitCtrlTorque(&CHASSIS.joint_motor[2]);
DmMitCtrlTorque(&CHASSIS.joint_motor[3]);
#endif
} break;
case CHASSIS_CALIBRATE: {
DmMitCtrlVelocity(&CHASSIS.joint_motor[0], CALIBRATE_VEL_KP);
DmMitCtrlVelocity(&CHASSIS.joint_motor[1], CALIBRATE_VEL_KP);
delay_us(200);
DmMitCtrlVelocity(&CHASSIS.joint_motor[2], CALIBRATE_VEL_KP);
DmMitCtrlVelocity(&CHASSIS.joint_motor[3], CALIBRATE_VEL_KP);
if (CALIBRATE.reached[0] && CALIBRATE.reached[1] && CALIBRATE.reached[2] &&
CALIBRATE.reached[3]) {
delay_us(200);
DmSavePosZero(&CHASSIS.joint_motor[0]);
DmSavePosZero(&CHASSIS.joint_motor[1]);
delay_us(200);
DmSavePosZero(&CHASSIS.joint_motor[2]);
DmSavePosZero(&CHASSIS.joint_motor[3]);
}
} break;
case CHASSIS_DEBUG: {
DmMitCtrlPosition(&CHASSIS.joint_motor[0], DEBUG_POS_KP, DEBUG_POS_KD);
DmMitCtrlPosition(&CHASSIS.joint_motor[1], DEBUG_POS_KP, DEBUG_POS_KD);
delay_us(200);
DmMitCtrlPosition(&CHASSIS.joint_motor[2], DEBUG_POS_KP, DEBUG_POS_KD);
DmMitCtrlPosition(&CHASSIS.joint_motor[3], DEBUG_POS_KP, DEBUG_POS_KD);
} break;
case CHASSIS_ZERO_FORCE:
default: {
DmMitCtrlVelocity(&CHASSIS.joint_motor[0], ZERO_FORCE_VEL_KP);
DmMitCtrlVelocity(&CHASSIS.joint_motor[1], ZERO_FORCE_VEL_KP);
delay_us(200);
DmMitCtrlVelocity(&CHASSIS.joint_motor[2], ZERO_FORCE_VEL_KP);
DmMitCtrlVelocity(&CHASSIS.joint_motor[3], ZERO_FORCE_VEL_KP);
}
}
}
}
/**
* @brief 发送驱动轮电机控制指令
* @param chassis
*/
static void SendWheelMotorCmd(void)
{
switch (CHASSIS.mode) {
case CHASSIS_FOLLOW_GIMBAL_YAW:
case CHASSIS_SPIN:
case CHASSIS_FREE: {
LkMultipleTorqueControl(
WHEEL_CAN, CHASSIS.wheel_motor[0].set.tor, CHASSIS.wheel_motor[1].set.tor, 0, 0);
} break;