1365 lines
50 KiB
C
1365 lines
50 KiB
C
#include "app_config.h"
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#include "interface.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "app_param_manage.h"
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#include "app_pid.h"
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#include "app_differential_drive.h"
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#include "app_brake.h"
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#include "app_power.h"
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Timer diff_app_timer;
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Timer diff_dir_timer;
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// 定义全局变量
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DiffData diff_data;
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PID_t speed_pid;
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PID_t yaw_rate_pid;
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PID_t Acc_front_speed_pid;
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PID_t Dec_front_speed_pid;
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// 设置电机输出
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void setMotorOutput(float *out_speed, uint16_t max_torque, uint16_t feed_power, uint16_t discharge_power)
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{
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float abs_speed[4] = {0.0,0.0,0.0,0.0};
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//--------------------------------------------------------------
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if(out_speed[2] > 0)
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{
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un_motor_output1.bit_data.gear = 1;
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}
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else if(out_speed[2] < 0)
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{
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un_motor_output1.bit_data.gear = 2;
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}
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else{}
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if(out_speed[0] > 0)
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{
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un_motor_output3.bit_data.gear = 1;
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}
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else if(out_speed[0] < 0)
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{
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un_motor_output3.bit_data.gear = 2;
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}
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else{}
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if(out_speed[1] > 0)
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{
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un_motor_output2.bit_data.gear = 1;
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}
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else if(out_speed[1] < 0)
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{
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un_motor_output2.bit_data.gear = 2;
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}
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else{}
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if(out_speed[3] > 0)
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{
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un_motor_output4.bit_data.gear = 1;
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}
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else if(out_speed[3] < 0)
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{
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un_motor_output4.bit_data.gear = 2;
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}
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else{}
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// if(diff_data.out_motor_dir != 0)//如果为0那就是空挡，那就保留之前的挡位否则以输入的速度为挡位
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// {
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// un_motor_output1.bit_data.gear = diff_data.out_motor_dir;
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// un_motor_output2.bit_data.gear = diff_data.out_motor_dir;
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// un_motor_output3.bit_data.gear = diff_data.out_motor_dir;
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// un_motor_output4.bit_data.gear = diff_data.out_motor_dir;
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// }
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//
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// un_motor_output1.bit_data.gear = (diff_data.out_motor_dir <= 0) ? 1 : 2; // 1 表示前进，2 表示后退
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// un_motor_output3.bit_data.gear = (diff_data.out_motor_dir <= 0) ? 1 : 2; // 1 表示前进，2 表示后退
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// un_motor_output2.bit_data.gear = (diff_data.out_motor_dir <= 0) ? 1 : 2;
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// un_motor_output4.bit_data.gear = (diff_data.out_motor_dir <= 0) ? 1 : 2;
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for(uint8_t i = 0; i<4; i++)
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{
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// if(out_speed[i] < 0) //给负扭矩就发0，刹车
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// {
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// out_speed[i] = 0;
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// }
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abs_speed[i] = fabs(out_speed[i]);//要扩大10倍 扭矩比例是10
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}
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un_motor_output1.bit_data.control_data1 = ( (uint16_t)roundf(abs_speed[2]) ); // 20240921 增加偏移量 30000//限定值为256
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un_motor_output1.bit_data.control_data2 = ( (uint16_t)roundf(abs_speed[2]) ); // 20240921 增加偏移量 30000
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un_motor_output3.bit_data.control_data1 = ( (uint16_t)roundf(abs_speed[0]) ); // 20240921 增加偏移量 30000//限定值为256
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un_motor_output3.bit_data.control_data2 = ( (uint16_t)roundf(abs_speed[0]) ); // 20240921 增加偏移量 30000
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un_motor_output2.bit_data.control_data1 = ( (uint16_t)roundf(abs_speed[1]) ); // 20240921 增加偏移量 30000
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un_motor_output2.bit_data.control_data2 = ( (uint16_t)roundf(abs_speed[1]) ); // 20240921 增加偏移量 30000
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un_motor_output4.bit_data.control_data1 = ( (uint16_t)roundf(abs_speed[3]) ); // 20240921 增加偏移量 30000
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un_motor_output4.bit_data.control_data2 = ( (uint16_t)roundf(abs_speed[3]) ); // 20240921 增加偏移量 30000
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// 设置模式为油门模式
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un_motor_output1.bit_data.mode = MOTOR_MODE; //转矩模式
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un_motor_output2.bit_data.mode = MOTOR_MODE;
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un_motor_output3.bit_data.mode = MOTOR_MODE;
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un_motor_output4.bit_data.mode = MOTOR_MODE;
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// 电机方向
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un_motor_output1.bit_data.motor_direction = 1;//电机2和3是反相的
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un_motor_output2.bit_data.motor_direction = 1;
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// un_motor_output1.bit_data.motor_direction = 1;//电机2和3是反相的
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// un_motor_output2.bit_data.motor_direction = 0;
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un_motor_output3.bit_data.motor_direction = 0;
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un_motor_output4.bit_data.motor_direction = 0;
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// can挡位一直有效
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un_motor_output1.bit_data.can_gear = 1;
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un_motor_output2.bit_data.can_gear = 1;
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un_motor_output3.bit_data.can_gear = 1;
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un_motor_output4.bit_data.can_gear = 1;
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un_motor_output1.bit_data.can_break = 1;
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un_motor_output2.bit_data.can_break = 1;
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un_motor_output3.bit_data.can_break = 1;
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un_motor_output4.bit_data.can_break = 1;
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}
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// 限制值在最小值和最大值之间
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float constrain(float value, float min_val, float max_val)
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{
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if (value < min_val)
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{
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return min_val;
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}
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else if (value > max_val)
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{
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return max_val;
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}
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else
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{
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return value;
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}
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}
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// 计算当前速度、角速度
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uint8_t calculateCurrentSpeedYawRate(void)
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{
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// 获取轮子周长
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float wheel_circumference = (float)getParam("whl_dia") * M_PI;
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// 获取减速比
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float gear_ratio = (float)getParam("gRatio");
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if (fabsf(gear_ratio) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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// 将电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
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float left_speed_mps = (diff_data.left_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
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float right_speed_mps = (diff_data.right_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
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// 计算当前速度
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diff_data.speed = (left_speed_mps + right_speed_mps) / 2.0f;
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// 计算速度差
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float speed_diff = left_speed_mps - right_speed_mps;
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// 计算角速度
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float wheel_base = (float)getParam("whl_bas");
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if (fabsf(wheel_base) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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diff_data.yaw_rate = speed_diff / wheel_base;
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return 0;
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}
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// 计算加速度
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float calculateAcceleration(float speed, float previous_speed, float dt)
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{
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if (fabs(dt) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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float acceleration = (speed - previous_speed) / dt;
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return acceleration;
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}
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// 计算减速度
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float calculateDeceleration(float speed, float previous_speed, float dt)
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{
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if (fabs(dt) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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float deceleration = calculateAcceleration(previous_speed, speed, dt); // 减速度就是负的加速度
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return deceleration;
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}
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// 计算最大速度
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float calculateMaxSpeed()
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{
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// 获取最大电机转速 (RPM)
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float max_rpm = (float)getParam("max_rpm");
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// 获取轮子周长
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float wheel_circumference = (float)getParam("whl_dia") * M_PI;
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// 获取减速比
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float gear_ratio = (float)getParam("gRatio");
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if (fabsf(gear_ratio) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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// 将最大电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
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float max_speed = (max_rpm * wheel_circumference) / (60.0f * gear_ratio);
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return max_speed;
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}
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// 计算最大加速度
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float calculateMaxAcceleration(void)
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{
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// 获取车辆参数
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float max_motor_torque = (float)getParam("maxTorq"); // 最大电机扭矩
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float vehicle_mass = (float)getParam("VehMass"); // 车辆质量
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float wheel_radius = (float)getParam("whl_dia") / 2.0f; // 轮子半径
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float gear_ratio = (float)getParam("gRatio"); // 减速比
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if (fabsf(wheel_radius) < EPSILON || fabsf(vehicle_mass) < EPSILON )
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{
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return 0; // 避免除以0的情况
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}
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// 减速比计算扭矩
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float effective_torque = max_motor_torque * gear_ratio;
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// 计算最大加速度
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float max_acceleration = (effective_torque / wheel_radius) / vehicle_mass;
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return max_acceleration;
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}
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// 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
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void calculateCurrentState(float dt)
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{
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static float previous_speed = 0.0f;
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// 更新当前速度和当前角速度
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calculateCurrentSpeedYawRate();
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// 更新加速度、减速度等，根据需要计算
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diff_data.acceleration = calculateAcceleration(diff_data.speed, previous_speed, dt);
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diff_data.deceleration = calculateDeceleration(diff_data.speed, previous_speed, dt);
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diff_data.max_speed = calculateMaxSpeed();
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previous_speed = diff_data.speed;
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}
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/**
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* @brief 根据轮速差动态调整电机扭矩（带非负限制）
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* @param speed_left 左轮速度（单位：rpm或自定义）
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* @param speed_right 右轮速度（单位：rpm或自定义）
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* @param torque_left 左轮扭矩指针（单位：Nm或自定义）
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* @param torque_right 右轮扭矩指针（单位：Nm或自定义）
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* @param threshold 触发调整的速差阈值（单位同轮速）
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* @param k 扭矩调整系数（无量纲，建议0<k<1）
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* @note 函数会直接修改传入的扭矩值，并确保扭矩不小于0
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*/
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void adjust_torque_by_speed_diff(float speed_left, float speed_right,
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float* torque_left, float* torque_right,
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float threshold, float k)
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{
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// 计算轮速差绝对值
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float speed_diff = fabsf(speed_left - speed_right);
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if (speed_diff > threshold) {
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// 计算需要减少的扭矩量（速差超出阈值部分×系数）
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float torque_reduction = (speed_diff - threshold) * k;
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if (speed_left > speed_right) {
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// 左轮过快时减少左扭矩，并限制最小值为0
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*torque_left = fmaxf(*torque_left - torque_reduction, 0.0f);
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} else {
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// 右轮过快时减少右扭矩，并限制最小值为0
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*torque_right = fmaxf(*torque_right - torque_reduction, 0.0f);
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}
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}
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}
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// 计算左右电机速度
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void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max_speed, float *motor_speed)
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{
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// 防止速度过低导致不必要的计算
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if (fabs(max_speed) < EPSILON)
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{
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motor_speed[0] = 0.0f;
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motor_speed[1] = 0.0f;
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motor_speed[2] = 0.0f;
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motor_speed[3] = 0.0f;
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return;
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}
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#if THROTTLE_PID_MODE
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float max_torque = (float)getParam("maxTorq");
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linear_velocity_x = constrain(linear_velocity_x, -max_torque, max_torque);
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yaw_rate = constrain(yaw_rate, -2*max_torque, 2*max_torque);
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float left_speed_mps = linear_velocity_x + yaw_rate;
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float right_speed_mps = linear_velocity_x - yaw_rate;
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//扭矩分配
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if(max_torque < left_speed_mps)
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{
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right_speed_mps = right_speed_mps - (left_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
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left_speed_mps = max_torque;
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}
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else if(-max_torque > left_speed_mps)
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{
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right_speed_mps = right_speed_mps - (left_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
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left_speed_mps = -max_torque;
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}
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else if(max_torque < right_speed_mps)
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{
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left_speed_mps = left_speed_mps - (right_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
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right_speed_mps = max_torque;
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}
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else if(-max_torque > right_speed_mps)
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{
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left_speed_mps = left_speed_mps - (right_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
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right_speed_mps = -max_torque;
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}
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else{}
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// 返回计算结果
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motor_speed[0] = left_speed_mps;
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motor_speed[2] = left_speed_mps;
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motor_speed[1] = right_speed_mps;
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motor_speed[3] = right_speed_mps;
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// adjust_torque_by_speed_diff( diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed, &motor_speed[0], &motor_speed[2],50, 0.2);
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// adjust_torque_by_speed_diff( diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed, &motor_speed[1], &motor_speed[3],50, 0.2);
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#else
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// 限制线速度和偏航率
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linear_velocity_x = constrain(linear_velocity_x, -max_speed, max_speed);
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float max_yaw_rate = max_speed / ((float)getParam("whl_bas") / 2.0f);
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yaw_rate = constrain(yaw_rate, -max_yaw_rate, max_yaw_rate);
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// 计算旋转速度
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float rotational_velocity = ((float)getParam("whl_bas") / 2.0f) * yaw_rate;
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// 计算车辆左右线速度 (m/s)
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float left_speed_mps = linear_velocity_x + rotational_velocity;
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float right_speed_mps = linear_velocity_x - rotational_velocity;
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// 计算轮子周长
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float wheel_circumference = (float)getParam("whl_dia") * M_PI;
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// 将车辆左右线速度转换为轮子转速 (RPM)
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float left_wheel_rpm = (left_speed_mps * 60.0f) / wheel_circumference;
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float right_wheel_rpm = (right_speed_mps * 60.0f) / wheel_circumference;
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// 获取减速比
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float gear_ratio = (float)getParam("gRatio");
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// 将轮子转速转换为电机转速，考虑减速比
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float left_motor_rpm = left_wheel_rpm * gear_ratio;
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float right_motor_rpm = right_wheel_rpm * gear_ratio;
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// 限制电机的最大和最小转速
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float max_motor_rpm = (float)getParam("max_rpm");
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left_motor_rpm = constrain(left_motor_rpm, -max_motor_rpm, max_motor_rpm);
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right_motor_rpm = constrain(right_motor_rpm, -max_motor_rpm, max_motor_rpm);
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// 当电机转速小于50转时，设置为0
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if (fabsf(left_motor_rpm) < 50)//速度慢所以设置位10转
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{
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left_motor_rpm = 0;
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}
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if (fabsf(right_motor_rpm) < 50)//速度慢所以设置位10转
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{
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right_motor_rpm = 0;
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}
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// 返回计算结果
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*left_motor_speed = left_motor_rpm;
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*right_motor_speed = right_motor_rpm;
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#endif
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}
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// 映射遥控器速度，分为死区、低速区和高速区。
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float mapRemoteControlSpeed(
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float input_speed,
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float deadzone_limit,
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float input_max,
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float output_max,
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float input_slow,
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float output_slow
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)
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{
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float output_speed = 0.0f;
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// 获取输入速度的绝对值
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float abs_input = fabsf(input_speed);
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if (abs_input < deadzone_limit + EPSILON)
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{
|
||
output_speed = 0.0f;// 死区
|
||
}
|
||
else if (abs_input < input_slow + EPSILON)// 低速区
|
||
{
|
||
output_speed = (abs_input - deadzone_limit) * output_slow / (input_slow - deadzone_limit);
|
||
}
|
||
else if (abs_input <= input_max + EPSILON)// 高速区
|
||
{
|
||
output_speed = output_slow + (abs_input - input_slow) * (output_max - output_slow) / (input_max - input_slow);
|
||
}
|
||
else // 超出范围
|
||
{
|
||
output_speed = output_max;
|
||
}
|
||
// 根据原始输入速度的符号恢复方向
|
||
if (input_speed < 0)
|
||
{
|
||
output_speed = -output_speed;
|
||
}
|
||
return output_speed;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 状态机处理函数（修改后版本）
|
||
*/
|
||
void handleVehicleState(DiffData *ctx,float *torque)
|
||
{
|
||
static uint8_t handle_cnt = 0;
|
||
switch (ctx->state)
|
||
{
|
||
//-------------------------------------------
|
||
// 初始状态：根据期望速度方向跳转
|
||
//-------------------------------------------
|
||
case STATE_INIT:
|
||
{
|
||
if (ctx->desired_speed < 0.0f)
|
||
{
|
||
ctx->state = STATE_BACKWARD;
|
||
}
|
||
else
|
||
{
|
||
ctx->state = STATE_FORWARD;
|
||
}
|
||
break;
|
||
}
|
||
|
||
//-------------------------------------------
|
||
// 前进状态：处理反向指令（新增else分支）
|
||
//-------------------------------------------
|
||
case STATE_FORWARD:
|
||
{
|
||
if ((ctx->desired_speed < 0.0f) && (ctx->speed == 0.0f))
|
||
{
|
||
ctx->state = STATE_BACKWARD; // 零速时允许切换方向
|
||
}
|
||
else if ((ctx->desired_speed < 0.0f) && (ctx->speed != 0.0f))
|
||
{
|
||
ctx->state = DEC_FORWARD; // 显式保持当前状态
|
||
*torque = 1;//减速的话先发1，然后再发0
|
||
handle_cnt = 0;
|
||
}
|
||
else
|
||
{
|
||
ctx->state = STATE_FORWARD; // 新增：其他情况保持前进状态
|
||
}
|
||
break;
|
||
}
|
||
//-------------------------------------------
|
||
// 前进减速状态：
|
||
//-------------------------------------------
|
||
case DEC_FORWARD:
|
||
{
|
||
if (handle_cnt >= 10)
|
||
{
|
||
*torque = 0;//减速的话先发1，然后再发0
|
||
ctx->state = DEC_FORWARD2; // 零速时允许切换方向
|
||
handle_cnt = 0;
|
||
}
|
||
else
|
||
{
|
||
handle_cnt ++;
|
||
ctx->state = DEC_FORWARD; // 新增：其他情况保持前进状态
|
||
}
|
||
break;
|
||
}
|
||
//-------------------------------------------
|
||
// 前进溜车状态：
|
||
//-------------------------------------------
|
||
case DEC_FORWARD2:
|
||
{
|
||
if( (ctx->speed == 0.0f) && (ctx->desired_speed < 0.0f) )//后退
|
||
{
|
||
ctx->state = STATE_BACKWARD; // 零速时允许切换方向
|
||
}
|
||
else if ( (ctx->speed == 0.0f) && (ctx->desired_speed > 0.0f) ) //前进
|
||
{
|
||
ctx->state = STATE_FORWARD; // 显式保持当前状态
|
||
}
|
||
else
|
||
{
|
||
ctx->state = DEC_FORWARD2; // 新增：其他情况保持前进状态
|
||
*torque = 0;//减速的话先发1，然后再发0
|
||
ctx->desired_speed = 0;
|
||
}
|
||
break;
|
||
}
|
||
|
||
|
||
//-------------------------------------------
|
||
// 倒车状态：处理正向指令（新增else分支）
|
||
//-------------------------------------------
|
||
case STATE_BACKWARD:
|
||
{
|
||
if ((ctx->desired_speed > 0.0f) && (ctx->speed == 0.0f))
|
||
{
|
||
ctx->state = STATE_FORWARD; // 零速时允许切换方向
|
||
}
|
||
else if ((ctx->desired_speed > 0.0f) && (ctx->speed != 0.0f))
|
||
{
|
||
ctx->state = DEC_BACKWARD; // 显式保持当前状态
|
||
*torque = -1;//倒挡减速的话先发-1，然后再发0
|
||
handle_cnt = 0;
|
||
}
|
||
else
|
||
{
|
||
ctx->state = STATE_BACKWARD; // 新增：其他情况保持倒车状态
|
||
}
|
||
break;
|
||
}
|
||
|
||
//-------------------------------------------
|
||
// 后退减速状态：
|
||
//-------------------------------------------
|
||
case DEC_BACKWARD:
|
||
{
|
||
if (handle_cnt >= 10)
|
||
{
|
||
*torque = 0;//减速的话先发1，然后再发0
|
||
ctx->state = DEC_BACKWARD2; // 零速时允许切换方向
|
||
handle_cnt = 0;
|
||
}
|
||
else
|
||
{
|
||
handle_cnt ++;
|
||
ctx->state = DEC_BACKWARD; // 新增：其他情况保持前进状态
|
||
}
|
||
break;
|
||
}
|
||
//-------------------------------------------
|
||
// 后退减速状态：
|
||
//-------------------------------------------
|
||
case DEC_BACKWARD2:
|
||
{
|
||
if( (ctx->speed == 0.0f) && (ctx->desired_speed < 0.0f) )//后退
|
||
{
|
||
ctx->state = STATE_BACKWARD; // 零速时允许切换方向
|
||
}
|
||
else if ( (ctx->speed == 0.0f) && (ctx->desired_speed > 0.0f) ) //前进
|
||
{
|
||
ctx->state = STATE_FORWARD; // 显式保持当前状态
|
||
}
|
||
else
|
||
{
|
||
ctx->state = DEC_BACKWARD2; // 新增：其他情况保持前进状态
|
||
*torque = 0;//减速的话先发1，然后再发0
|
||
ctx->desired_speed = 0;
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
|
||
// 差速处理函数
|
||
static void diffProcess(void *signal_id)
|
||
{
|
||
(void)signal_id;
|
||
static float previous_time1 = 0.0f;
|
||
|
||
float time1 = (float)getCurrentTime();
|
||
float dt = (time1 - previous_time1) / PERIOD_TICK;
|
||
previous_time1 = time1;
|
||
|
||
// 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
|
||
calculateCurrentState(dt);
|
||
|
||
// 当速度小于1时，设定为原地转向
|
||
if (fabsf(diff_data.desired_speed) <= 1.0f)
|
||
{
|
||
diff_data.desired_yaw_rate = diff_data.desired_curvature * 1.0f; // 原地转向时，设定一个固定的偏航率
|
||
}
|
||
else
|
||
{
|
||
diff_data.desired_yaw_rate = diff_data.desired_curvature * diff_data.desired_speed;
|
||
}
|
||
|
||
|
||
// if( ( (diff_data.desired_speed > 0) && (diff_data.speed > 0) ) || ( (diff_data.desired_speed < 0) && (diff_data.speed < 0) ) )//同相
|
||
// {
|
||
// if( fabs(diff_data.desired_speed) > fabs(diff_data.speed) )//期望大于当前速度，表示加速，所以用大PID
|
||
// {
|
||
// setPidParameters(&speed_pid,
|
||
// Acc_front_speed_pid.kp,
|
||
// Acc_front_speed_pid.ki,
|
||
// Acc_front_speed_pid.kd,
|
||
// Acc_front_speed_pid.integral_limit,
|
||
// Acc_front_speed_pid.output_limit
|
||
// );
|
||
// }
|
||
// else
|
||
// {
|
||
// setPidParameters(&speed_pid,
|
||
// Dec_front_speed_pid.kp,
|
||
// Dec_front_speed_pid.ki,
|
||
// Dec_front_speed_pid.kd,
|
||
// Dec_front_speed_pid.integral_limit,
|
||
// Dec_front_speed_pid.output_limit
|
||
// );
|
||
//
|
||
// }
|
||
// }//反相就先小PID减速
|
||
// else
|
||
// {
|
||
// setPidParameters(&speed_pid,
|
||
// Dec_front_speed_pid.kp,
|
||
// Dec_front_speed_pid.ki,
|
||
// Dec_front_speed_pid.kd,
|
||
// Dec_front_speed_pid.integral_limit,
|
||
// Dec_front_speed_pid.output_limit
|
||
// );
|
||
// }
|
||
|
||
|
||
|
||
// float positive_speed = fabs(diff_data.desired_speed);//取绝对值 20250701 扭矩控制不需要考虑正负
|
||
//
|
||
// if(diff_data.desired_speed < 0)//判断方向 小于0就反转，大于0电机正转
|
||
// {
|
||
// diff_data.out_motor_dir = 2;
|
||
// }
|
||
// else if(diff_data.desired_speed > 0)
|
||
// {
|
||
// diff_data.out_motor_dir = 1;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.out_motor_dir = 0;
|
||
// }
|
||
|
||
// 使用 PID 控制器计算输出速度和曲率
|
||
float output_speed = calculatePidOutput(&speed_pid, diff_data.desired_speed, diff_data.speed, 0.0f, dt);
|
||
|
||
float output_yaw_rate = calculatePidOutput(&yaw_rate_pid, diff_data.desired_yaw_rate, diff_data.yaw_rate, 0.0f, dt);
|
||
|
||
// 计算最大加速度，用函数计算
|
||
float max_acceleration = calculateMaxAcceleration();
|
||
|
||
// if( ( (output_speed > 0) && (diff_data.speed < 0) ) || ( (output_speed < 0) && (diff_data.speed > 0) ) )//方向相反不给反方向扭矩，直接清0，给反方向扭矩转速有问题
|
||
// {
|
||
// if( ( (diff_data.desired_speed > 0) && (diff_data.speed < 0) ) || ( (diff_data.desired_speed < 0) && (diff_data.speed > 0) ) )//期望和当前速度相反的话，那直接运行反方向扭矩，解决下坡不能减速的问题。
|
||
// {
|
||
//
|
||
// }
|
||
// else
|
||
// {
|
||
// output_speed = 0;
|
||
// resetPidIntegral(&speed_pid);
|
||
// }
|
||
// }
|
||
//
|
||
handleVehicleState(&diff_data,&output_speed); //20250704 换挡函数 速度为0才能换挡,溜车需要先
|
||
|
||
|
||
|
||
if( ( output_speed < 0) && (diff_data.desired_speed > 0) && (diff_data.speed > 0) )//解决同向导致电机减速，震荡的问题。同相减速，发1。
|
||
{
|
||
output_speed = 1;
|
||
}
|
||
else if( ( output_speed > 0) && (diff_data.desired_speed < 0) && (diff_data.speed < 0) )
|
||
{
|
||
output_speed = -1;
|
||
}
|
||
else
|
||
{
|
||
}
|
||
|
||
|
||
// 限制输出速度在当前速度和最大加速度计算出来的速度之间
|
||
// output_speed = constrain(output_speed, diff_data.speed - max_acceleration * dt, diff_data.speed + max_acceleration * dt);
|
||
|
||
// printf("output_speed: %f, output_yaw: %f\n", output_speed, output_yaw_rate);
|
||
|
||
// if( (0 == diff_data.desired_yaw_rate) && (0 == diff_data.desired_speed) && (diff_data.left_motor_speed < 50.0f) && (diff_data.right_motor_speed > -50.0f))//手柄回中，速度小的时候清0
|
||
// {
|
||
// resetPidIntegral(&speed_pid);
|
||
// resetPidIntegral(&yaw_rate_pid);
|
||
// output_speed = 0;
|
||
// output_yaw_rate = 0;
|
||
// }
|
||
//
|
||
|
||
if( (0 == diff_data.desired_speed) )//手柄回中，速度小的时候清0
|
||
{
|
||
resetPidIntegral(&speed_pid);
|
||
resetPidIntegral(&yaw_rate_pid);
|
||
output_speed = 0;
|
||
output_yaw_rate = 0;
|
||
}
|
||
|
||
// 使用差速车辆动力学模型计算左右电机的期望速度
|
||
float out_torque[4] = {0,0,0,0};
|
||
computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, out_torque);
|
||
// computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, &diff_data.out_motor_speed[0]);
|
||
|
||
|
||
if( ( (diff_data.left_front_motor_speed / diff_data.left_rear_motor_speed) >= diff_data.diff_dead_zone ) || ( (diff_data.left_front_motor_speed / diff_data.left_rear_motor_speed) <= (1/diff_data.diff_dead_zone) ) )//如果超过2倍，或者小于2倍
|
||
{
|
||
diff_data.left_speed_diff = diff_data.left_front_motor_speed - diff_data.left_rear_motor_speed;
|
||
diff_data.left_diff_touue = calculatePidOutput(&Acc_front_speed_pid, 0.0f, diff_data.left_speed_diff, 0.0f, dt); //左侧转速差PID
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_speed_diff = 0;
|
||
Acc_front_speed_pid.integral = 0;
|
||
diff_data.left_diff_touue = 0;
|
||
}
|
||
|
||
|
||
if( ( (diff_data.right_front_motor_speed / diff_data.right_rear_motor_speed) >= diff_data.diff_dead_zone ) || ( (diff_data.right_front_motor_speed / diff_data.right_rear_motor_speed) <= (1/diff_data.diff_dead_zone) ) )//如果超过2倍，或者小于2倍
|
||
{
|
||
diff_data.right_speed_diff = diff_data.right_front_motor_speed - diff_data.right_rear_motor_speed;
|
||
diff_data.right_diff_touue = calculatePidOutput(&Dec_front_speed_pid, 0.0f, diff_data.right_speed_diff, 0.0f, dt); //左侧转速差PID
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_speed_diff = 0;
|
||
Dec_front_speed_pid.integral = 0;
|
||
diff_data.right_diff_touue = 0;
|
||
}
|
||
|
||
if(out_torque[0] > 0)
|
||
{
|
||
diff_data.left_diff_touue = constrain(diff_data.left_diff_touue, -2*out_torque[0], 2*out_torque[0]);
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_diff_touue = constrain(diff_data.left_diff_touue, 2*out_torque[0], -2*out_torque[0]);
|
||
}
|
||
|
||
|
||
if(out_torque[1] > 0)
|
||
{
|
||
diff_data.right_diff_touue = constrain(diff_data.right_diff_touue, -2*out_torque[1], 2*out_torque[1]);
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_diff_touue = constrain(diff_data.right_diff_touue, 2*out_torque[1], -2*out_torque[1]);
|
||
}
|
||
|
||
|
||
diff_data.out_motor_speed[0] = (2*out_torque[0] + diff_data.left_diff_touue)/2.0f;//因为每一个电机都是相同的扭矩，所以扭矩和为2倍。
|
||
diff_data.out_motor_speed[2] = (2*out_torque[0] - diff_data.left_diff_touue)/2.0f;
|
||
|
||
diff_data.out_motor_speed[1] = (2*out_torque[1] + diff_data.right_diff_touue)/2.0f;
|
||
diff_data.out_motor_speed[3] = (2*out_torque[1] - diff_data.right_diff_touue)/2.0f;
|
||
|
||
// diff_data.out_motor_speed[0] = calculatePidOutput(&Left_front_speed_pid, diff_data.out_left_motor_speed, diff_data.left_front_motor_speed, 0.0f, dt);
|
||
// diff_data.out_motor_speed[1] = calculatePidOutput(&right_front_speed_pid, diff_data.out_right_motor_speed, diff_data.right_front_motor_speed, 0.0f, dt);
|
||
// diff_data.out_motor_speed[2] = calculatePidOutput(&Left_Rear_speed_pid, diff_data.out_left_motor_speed, diff_data.left_rear_motor_speed, 0.0f, dt);
|
||
// diff_data.out_motor_speed[3] = calculatePidOutput(&right_Rear_speed_pid, diff_data.out_right_motor_speed, diff_data.right_rear_motor_speed, 0.0f, dt);
|
||
|
||
// diff_data.out_motor_speed[0] = diff_data.out_left_motor_speed;
|
||
// diff_data.out_motor_speed[2] = diff_data.out_left_motor_speed;
|
||
//
|
||
// diff_data.out_motor_speed[1] = diff_data.out_right_motor_speed;
|
||
// diff_data.out_motor_speed[3] = diff_data.out_right_motor_speed;
|
||
|
||
// 设置电机输出
|
||
setMotorOutput(&diff_data.out_motor_speed[0],
|
||
diff_data.max_Torq,
|
||
(uint16_t)getParam("feedPwr"),
|
||
(uint16_t)getParam("dispPwr"));
|
||
// 发布左右电机期望转速,电源在工作状态才能发送
|
||
if (power_data.current_state == POWER_WORKING)
|
||
{
|
||
publishMessage(&un_motor_output1, 1);
|
||
publishMessage(&un_motor_output2, 1);
|
||
}
|
||
publishMessage(&diff_data, 1);
|
||
}
|
||
|
||
|
||
///**
|
||
// * @brief 电机状态处理函数
|
||
// * @param ctx 电机状态上下文指针，包含当前状态、转速和输出扭矩数据
|
||
// * @param original_dir 电机原始方向
|
||
// * @note 该函数实现基于转速和扭矩方向的状态转换逻辑：
|
||
// * - 初始态：转速为0时根据扭矩方向切换前进/后退状态
|
||
// * - 前进/后退态：转速归零时返回初始态
|
||
// * - 默认处理：异常状态自动复位到初始态
|
||
// * @warning 需确保ctx->out_motor_speed[0]已正确初始化（正数表前进，负数表后退）
|
||
// */
|
||
//void handleMotorState(DiffData *ctx,uint8_t original_dir)
|
||
//{
|
||
// switch (ctx->state)
|
||
// {
|
||
// case STATE_INIT://初始
|
||
// {
|
||
// if (ctx->speed == 0.0f)
|
||
// {
|
||
// if (ctx->out_motor_speed[0] > 0.0f) // 修改为数组索引
|
||
// {
|
||
// ctx->state = STATE_FORWARD; // 扭矩为正 → 前进
|
||
// ctx->motor_dir = FORWARD;
|
||
// }
|
||
// else if (ctx->out_motor_speed[0] < 0.0f) // 修改为数组索引
|
||
// {
|
||
// ctx->state = STATE_BACKWARD; // 扭矩为负 → 后退
|
||
// ctx->motor_dir = BACKWARD;
|
||
// }
|
||
// else
|
||
// {
|
||
// ctx->state = STATE_INIT;
|
||
// }
|
||
// }
|
||
// else//停下来以后，还出现速度，说明溜坡或者外力接入，直接用实际电机方向
|
||
// {
|
||
// if(1 == original_dir)
|
||
// {
|
||
// ctx->motor_dir = FORWARD;
|
||
// ctx->state = STATE_FORWARD; // 保持前进
|
||
// }
|
||
// else
|
||
// {
|
||
// ctx->motor_dir = BACKWARD;
|
||
// ctx->state = STATE_BACKWARD; // 保持后退
|
||
// }
|
||
// }
|
||
//
|
||
// break;
|
||
// }
|
||
// case STATE_FORWARD://前进
|
||
// {
|
||
// if ( (ctx->speed == 0.0f) && (ctx->out_motor_speed[0] == 0.0f) )
|
||
// {
|
||
// ctx->state = STATE_INIT;
|
||
// }
|
||
// else if( (ctx->speed == 0.0f) && (ctx->out_motor_speed[0] < 0.0f) )//直接给反相扭矩减速
|
||
// {
|
||
// ctx->motor_dir = BACKWARD;
|
||
// ctx->state = STATE_BACKWARD; // 保持后退
|
||
// }
|
||
// else
|
||
// {
|
||
// ctx->motor_dir = FORWARD;
|
||
// ctx->state = STATE_FORWARD; // 保持前进
|
||
// }
|
||
// break;
|
||
// }
|
||
//
|
||
//// case DEC_FORWARD://前进减速
|
||
//// {
|
||
//// if(ctx->speed > 0)//停下来以后，还出现速度，说明溜坡或者外力接入，直接用实际电机方向
|
||
//// {
|
||
//// ctx->motor_dir = BACKWARD;
|
||
//// ctx->state = STATE_BACKWARD; // 保持后退
|
||
//// }
|
||
//// else
|
||
//// {
|
||
//// ctx->state = STATE_INIT;
|
||
//// }
|
||
//// break;
|
||
//// }
|
||
////
|
||
// case STATE_BACKWARD://后退
|
||
// {
|
||
// if ( (ctx->speed == 0.0f) && (ctx->out_motor_speed[0] == 0.0f) )
|
||
// {
|
||
// ctx->state = STATE_INIT;
|
||
// }
|
||
// else if( (ctx->speed == 0.0f) && (ctx->out_motor_speed[0] > 0.0f) )//直接给反相扭矩减速
|
||
// {
|
||
// ctx->motor_dir = FORWARD;
|
||
// ctx->state = STATE_FORWARD; // 保持前进
|
||
// }
|
||
// else
|
||
// {
|
||
// ctx->motor_dir = BACKWARD;
|
||
// ctx->state = STATE_BACKWARD; // 保持后退
|
||
// }
|
||
// break;
|
||
// }
|
||
//
|
||
// // 异常处理
|
||
// default:
|
||
// {
|
||
// ctx->state = STATE_INIT;
|
||
// break;
|
||
// }
|
||
// }
|
||
//}
|
||
|
||
|
||
|
||
//void diff100ms(void *signal_id)
|
||
//{
|
||
//// calibrateSpeedDirection(&diff_data);
|
||
// timerStart(&diff_dir_timer,100,1);//100ms调用一次
|
||
//}
|
||
|
||
|
||
// 差速输入处理函数
|
||
static void diffInput(void *signal_id)
|
||
{
|
||
if (signal_id == &un_sw_sample)
|
||
{
|
||
diff_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;
|
||
}
|
||
else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
|
||
{
|
||
diff_data.remote_emergency_stop = !(uint8_t)un_remote_control_input.bit_data.switch_b;
|
||
diff_data.mode = un_remote_control_input.bit_data.switch_c == 1 ? MODE_AUTO : MODE_MANUAL;
|
||
|
||
if (diff_data.mode == MODE_MANUAL)
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_remote_control_input.bit_data.speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_remote_control_input.bit_data.curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0.01, 2, 2, 1, 0.5);
|
||
diff_data.desired_curvature = diff_data.desired_curvature;
|
||
}
|
||
}
|
||
else if ( (signal_id == &un_manual_computer_input) && (diff_data.mode == MODE_AUTO) )
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_manual_computer_input.bit_data.set_speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_manual_computer_input.bit_data.set_curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 2, 10, 1, 5);
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
|
||
}
|
||
else if ( (signal_id == &un_auto_computer_input) && (diff_data.mode == MODE_AUTO) )
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_auto_computer_input.bit_data.set_speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_auto_computer_input.bit_data.set_curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = - diff_data.desired_curvature * 0.0001f;// 20241016 增加转弯反相
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5);
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
|
||
}
|
||
else if( (signal_id == &un_motor_input1) || (signal_id == &un_motor_input3) )// 处理第一个电机速度信号（左侧电机）
|
||
{
|
||
float speed_temp = (float) ( (int16_t)(un_motor_input1.bit_data.speed) ) ;
|
||
if(1 == un_motor_input1.bit_data.gear)//判断挡位
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.left_rear_motor_speed = -speed_temp;
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_rear_motor_speed = speed_temp;
|
||
}
|
||
}
|
||
else if(2 == un_motor_input1.bit_data.gear)
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.left_rear_motor_speed = speed_temp;//两个负号得正
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_rear_motor_speed = -speed_temp;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
}
|
||
// if(1 == diff_data.motor_dir)//1为负数 20250620 修改为判断电机转动方向， 挡位不可靠
|
||
// {
|
||
// diff_data.left_rear_motor_speed = -speed_temp;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.left_rear_motor_speed = speed_temp;
|
||
// }
|
||
if(fabs(diff_data.left_rear_motor_speed) < SWITCH_SPEED)
|
||
{
|
||
diff_data.left_rear_motor_speed = 0;
|
||
}
|
||
|
||
|
||
speed_temp = (float) ( (int16_t)(un_motor_input3.bit_data.speed) ) ;
|
||
|
||
if(1 == un_motor_input3.bit_data.gear)//判断挡位
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.left_front_motor_speed = -speed_temp;
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_front_motor_speed = speed_temp;
|
||
}
|
||
}
|
||
else if(2 == un_motor_input3.bit_data.gear)
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.left_front_motor_speed = speed_temp;//两个负号得正
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_front_motor_speed = -speed_temp;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
}
|
||
|
||
// if(1 == diff_data.motor_dir)//1为负数
|
||
// {
|
||
// diff_data.left_front_motor_speed = -speed_temp;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.left_front_motor_speed = speed_temp;
|
||
// }
|
||
|
||
if(fabs(diff_data.left_front_motor_speed) < SWITCH_SPEED)//死区
|
||
{
|
||
diff_data.left_front_motor_speed = 0;
|
||
}
|
||
|
||
if(fabs(diff_data.left_front_motor_speed) < fabs(diff_data.left_rear_motor_speed) )//取最小值,避免打滑，拉高转速
|
||
{
|
||
diff_data.left_motor_speed = diff_data.left_front_motor_speed;
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_motor_speed = diff_data.left_rear_motor_speed;
|
||
}
|
||
|
||
// printf("motor1: %f, motor3: %f\n", diff_temp[0], diff_temp[1]);
|
||
// diff_data.left_motor_speed = 0;// 左侧两个电机所以取平均值
|
||
|
||
}
|
||
else if( (signal_id == &un_motor_input2) || (signal_id == &un_motor_input4) )// 处理第二个电机速度信号（右侧电机）
|
||
{
|
||
|
||
float speed_temp = (float) ( (int16_t)( un_motor_input2.bit_data.speed) );
|
||
// if(1 == diff_data.motor_dir)//1为负数
|
||
// {
|
||
// diff_data.right_front_motor_speed = - speed_temp;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.right_front_motor_speed = speed_temp;
|
||
// }
|
||
if(1 == un_motor_input2.bit_data.gear)//判断挡位
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.right_front_motor_speed = -speed_temp;
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_front_motor_speed = speed_temp;
|
||
}
|
||
}
|
||
else if(2 == un_motor_input2.bit_data.gear)
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.right_front_motor_speed = speed_temp;//两个负号得正
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_front_motor_speed = -speed_temp;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
}
|
||
if(fabs(diff_data.right_front_motor_speed) < SWITCH_SPEED)//死区
|
||
{
|
||
diff_data.right_front_motor_speed = 0;
|
||
}
|
||
|
||
|
||
speed_temp = ( (float) ( (int16_t)(un_motor_input4.bit_data.speed) ) );
|
||
// if(1 == diff_data.motor_dir)//1为负数
|
||
// {
|
||
// diff_data.right_rear_motor_speed = - speed_temp;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.right_rear_motor_speed = speed_temp;
|
||
// }
|
||
if(1 == un_motor_input4.bit_data.gear)//判断挡位
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.right_rear_motor_speed = -speed_temp;
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_rear_motor_speed = speed_temp;
|
||
}
|
||
}
|
||
else if(2 == un_motor_input4.bit_data.gear)
|
||
{
|
||
if(speed_temp < 0)//转速小于0
|
||
{
|
||
diff_data.right_rear_motor_speed = speed_temp;//两个负号得正
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_rear_motor_speed = -speed_temp;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
}
|
||
if(fabs(diff_data.right_rear_motor_speed) < SWITCH_SPEED)//死区
|
||
{
|
||
diff_data.right_rear_motor_speed = 0;
|
||
}
|
||
|
||
if( fabs(diff_data.right_front_motor_speed) < fabs(diff_data.right_rear_motor_speed) )//取最小值,避免打滑，拉高转速
|
||
{
|
||
diff_data.right_motor_speed = diff_data.right_front_motor_speed;
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_motor_speed = diff_data.right_rear_motor_speed;
|
||
}
|
||
|
||
// diff_data.right_motor_speed = 0;// 左侧两个电机所以取平均值
|
||
|
||
}
|
||
else{}
|
||
|
||
// printf("rightspeed: %f, leftspeed: %f\n", diff_data.right_motor_speed, diff_data.left_motor_speed);
|
||
// 急停开关
|
||
diff_data.emergency_stop_state = (uint8_t)(diff_data.emergency_stop_switch == app_close() || diff_data.remote_emergency_stop == app_close());
|
||
|
||
// 如果急停被激活,强制设定速度为0,急停包括车上急停开关和遥控器急停开关
|
||
if (diff_data.emergency_stop_state == 1)
|
||
{
|
||
diff_data.desired_speed = 0.0;
|
||
diff_data.desired_curvature = 0.0;
|
||
}
|
||
// 遥控器断线，而且是在手动模式，期望值清0
|
||
if ( (diff_data.mode == MODE_MANUAL) && (0 == un_remote_control_input.bit_data.enable) )
|
||
{
|
||
diff_data.desired_speed = 0.0;
|
||
diff_data.desired_curvature = 0.0;
|
||
}
|
||
|
||
// if (diff_data.emergency_stop_state == 1)//刹车 20241017 增加的扭矩限制
|
||
// {
|
||
// diff_data.max_Torq = 5;//20240403修改。刹车就是5N
|
||
// }
|
||
// else if ((0 == diff_data.desired_speed) && (0 == diff_data.desired_curvature) && ((diff_data.left_motor_speed > -100) && (diff_data.left_motor_speed < 100)) && (((diff_data.right_motor_speed > -100) && (diff_data.right_motor_speed < 100))))//20240330只有当手柄回中，然后当前已经停止的状态才设置为最小停车扭矩
|
||
// {
|
||
// diff_data.max_Torq = 0;//停车 就为0
|
||
// }
|
||
// else
|
||
// {
|
||
|
||
// }
|
||
|
||
diff_data.speed_inter = (uint16_t)(int16_t)speed_pid.integral;
|
||
diffProcess(&diff_data);//计算左右电机期望转速
|
||
// printf("dir_state: %d,speed: %f, tou: %f\n", diff_data.state,diff_data.speed,diff_data.out_motor_speed[0]);
|
||
|
||
publishMessage(&diff_data, 1);
|
||
}
|
||
|
||
|
||
|
||
// 预充完成处理函数
|
||
void preChargeFinish(void *signal_id)
|
||
{
|
||
(void)signal_id;
|
||
|
||
for(uint8_t i = 0; i<4; i++)
|
||
{
|
||
diff_data.out_motor_speed[i] = 0;
|
||
}
|
||
|
||
setMotorOutput(&diff_data.out_motor_speed[0],(uint16_t)getParam("maxTorq"), (uint16_t)getParam("feedPwr"), (uint16_t)getParam("dispPwr"));
|
||
// 档位
|
||
un_motor_output1.bit_data.gear = 0; // 0表示空挡
|
||
un_motor_output2.bit_data.gear = 0;
|
||
publishMessage(&un_motor_output1, 1);
|
||
publishMessage(&un_motor_output2, 1);
|
||
}
|
||
|
||
|
||
void diffParametersInit(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
setPidParameters(&speed_pid,
|
||
getParam("spd_kp"),
|
||
getParam("spd_ki"),
|
||
getParam("spd_kd"),
|
||
getParam("spd_il"),
|
||
getParam("spd_ol")
|
||
);
|
||
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&yaw_rate_pid,
|
||
getParam("crv_kp"),
|
||
getParam("crv_ki"),
|
||
getParam("crv_kd"),
|
||
getParam("crv_il"),
|
||
getParam("crv_ol")
|
||
);
|
||
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&Dec_front_speed_pid,
|
||
getParam("mot_kp"),
|
||
getParam("mot_ki"),
|
||
getParam("mot_kd"),
|
||
getParam("mot_il"),
|
||
getParam("mot_ol")
|
||
);
|
||
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&Acc_front_speed_pid,
|
||
Dec_front_speed_pid.kp,
|
||
Dec_front_speed_pid.ki,
|
||
Dec_front_speed_pid.kd,
|
||
Dec_front_speed_pid.integral_limit,
|
||
Dec_front_speed_pid.output_limit
|
||
);
|
||
|
||
diff_data.max_Torq = (uint16_t)getParam("maxTorq");//参数读取设定最大扭矩
|
||
|
||
if(0 == (float)getParam("diff_sp"))//20250711 防止参数为0，影响计算。
|
||
{
|
||
diff_data.diff_dead_zone = 2;
|
||
}
|
||
else
|
||
{
|
||
diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩
|
||
}
|
||
|
||
|
||
|
||
printf("PID_P: %f, PID_I: %f\n", speed_pid.kp, speed_pid.ki);
|
||
|
||
printf("left_front: %f, right_front: %f, left_rear: %f, right_rear: %f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed,diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
|
||
|
||
printf("left_front_tou: %f, right_front_tou: %f, left_rear_tou: %f, right_rear_tou: %f\n", diff_data.out_motor_speed[0], diff_data.out_motor_speed[2],diff_data.out_motor_speed[2], diff_data.out_motor_speed[3]);
|
||
|
||
|
||
|
||
timerStart(&diff_app_timer,1000,1);//1s调用一次
|
||
}
|
||
|
||
|
||
// 差速初始化函数
|
||
void diffAppInit(void)
|
||
{
|
||
// 初始化 diff_data
|
||
memset(&diff_data, 0, sizeof(DiffData));
|
||
|
||
// 订阅相关信号
|
||
subscribe(&un_sw_sample, diffInput); // 急停开关、高压开关
|
||
subscribe(&un_motor_input1, diffInput);
|
||
subscribe(&un_motor_input2, diffInput);
|
||
|
||
|
||
subscribe(&un_auto_computer_input, diffInput);
|
||
subscribe(&un_manual_computer_input, diffInput);
|
||
subscribe(&un_remote_control_input, diffInput);
|
||
subscribe(&power_data.pre_charge_finish, preChargeFinish);
|
||
|
||
// 初始化速度 PID 控制器
|
||
initializePid(&speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置速度 PID 控制器的参数
|
||
setPidParameters(&speed_pid,
|
||
getParam("spd_kp"),
|
||
getParam("spd_ki"),
|
||
getParam("spd_kd"),
|
||
getParam("spd_il"),
|
||
getParam("spd_ol")
|
||
);
|
||
|
||
|
||
|
||
// 初始化曲率 PID 控制器
|
||
initializePid(&yaw_rate_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&yaw_rate_pid,
|
||
getParam("crv_kp"),
|
||
getParam("crv_ki"),
|
||
getParam("crv_kd"),
|
||
getParam("crv_il"),
|
||
getParam("crv_ol")
|
||
);
|
||
|
||
|
||
// 初始化减速 PID 控制器
|
||
initializePid(&Dec_front_speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置 PID 控制器的参数
|
||
setPidParameters(&Dec_front_speed_pid,
|
||
getParam("mot_kp"),
|
||
getParam("mot_ki"),
|
||
getParam("mot_kd"),
|
||
getParam("mot_il"),
|
||
getParam("mot_ol")
|
||
);
|
||
|
||
// 初始化加速 PID 控制器
|
||
initializePid(&Acc_front_speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置 PID 控制器的参数
|
||
setPidParameters(&Acc_front_speed_pid,
|
||
Dec_front_speed_pid.kp,
|
||
Dec_front_speed_pid.ki,
|
||
Dec_front_speed_pid.kd,
|
||
Dec_front_speed_pid.integral_limit,
|
||
Dec_front_speed_pid.output_limit
|
||
);
|
||
|
||
|
||
subscribe(&diff_app_timer, diffParametersInit);
|
||
timerStart(&diff_app_timer,1000,1);//1s调用一次
|
||
|
||
|
||
// subscribe(&diff_dir_timer, diff100ms);
|
||
// timerStart(&diff_dir_timer,100,1);//100ms调用一次
|
||
|
||
|
||
printf("diffControl: diffAppInit OK \n");
|
||
}
|