From 4f26f0ddae7f6a55ddcbc7301bc698d6c60e7803 Mon Sep 17 00:00:00 2001 From: UESTCsecurity Date: Wed, 24 Jan 2024 20:44:32 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E6=96=87=E6=A1=A3=E4=B8=8E?= =?UTF-8?q?=E9=83=A8=E5=88=86=E4=BB=A3=E7=A0=81=E6=B3=A8=E9=87=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Project/Project.uvguix.ASUS | 165 +++++----- .../PiRobot_Firmware v1.0/STM32/params.mk | 2 +- .../PiRobot_Firmware v1.0/STM32/pibot.uvoptx | 8 +- .../Pibot官方配置教程.md | 10 +- Hardware/UPbot-Tools/app.py | 2 +- .../STM32/BSPLIB/encoder.c | 283 +++++++++--------- .../STM32/Lib/KinematicModels/differential.h | 11 +- .../STM32/Lib/KinematicModels/omni3.h | 53 ++-- .../STM32/User/robot.cpp | 5 +- .../STM32/pibot.uvoptx | 12 +- Hardware/银星机器人底盘/README.md | 11 +- 11 files changed, 296 insertions(+), 266 deletions(-) diff --git a/Hardware/Firmware/GeekRobotTiny_Firmware v1.0/Project/Project.uvguix.ASUS 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1423 @@ -1706,7 +1706,7 @@ Build 676 - 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583 @@ -1722,7 +1722,7 @@ Debug 2373 - 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898 @@ -1748,18 +1748,27 @@ 100 0 - ..\HARDWARE\MOTO\car.c - 30 - 1 - 22 + ..\DRV\bsp_timer.c + 37 + 146 + 170 1 0 - ..\DRV\bsp_timer.c + ..\HARDWARE\MOTO\car.c + 11 + 1 + 21 + 1 + + 0 + + + ..\DRV\bsp_iic.c 0 - 154 + 1 1 1 diff --git a/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk index 1a61e24..ee4fa4b 100644 --- a/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk +++ b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/params.mk @@ -20,7 +20,7 @@ -DMOTOR_DRIVER_TB6612=1 -DMOTOR_DRIVER_DRV8870=2 --DMOTOR_DRIVER=MOTOR_DRIVER_DRV8870 +-DMOTOR_DRIVER=MOTOR_DRIVER_TB6612 #uart -DMASTER_USART=3 diff --git a/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx index 9ae53f8..56471ba 100644 --- a/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx +++ b/Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/pibot.uvoptx @@ -82,17 +82,17 @@ 0 Base Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf 1 Display Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf 2 User Manual (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm 3 @@ -139,7 +139,7 @@ 0 ST-LINKIII-KEIL_SWO - -U303030303030303030303031 -I0 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) + -U303030303030303030303031 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) 0 diff --git a/Hardware/Pibot驱动底盘/Pibot官方配置教程.md b/Hardware/Pibot驱动底盘/Pibot官方配置教程.md index a877c9e..39c57d9 100644 --- a/Hardware/Pibot驱动底盘/Pibot官方配置教程.md +++ b/Hardware/Pibot驱动底盘/Pibot官方配置教程.md @@ -68,7 +68,7 @@ struct head char version[16]; //固件版本 char time[16]; //构建时间 } - ``` +``` - 交互数据测试 - 发送(十六进制): `5a 00 00 5a` - 接收(十六进制): `5a 00 20 76 32 2e 30 2e 30 00 00 00 00 00 00 00 00 00 00 32 30 32 30 30 31 30 39 2d 6d 33 65 33 00 00 00 d1` @@ -136,7 +136,7 @@ struct head - 交互数据测试 - 发送(十六进制): `5a 02 00 5c` - 接收(十六进制): `5a 02 40 41 00 af 00 2c 00 0a 40 01 8c 0a 00 00 0a 00 fa 00 32 00 00 00 c8 00 47 5a 00 01 0f 0f 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 37 38 39 30 31 32 33 34 35 36 82` -![get params](png/get_params.png) + ![get params](png/get_params.png) ``` 固定帧头:0x5a 消息id:0x02 @@ -227,8 +227,8 @@ struct head short v_liner_x; //线速度 前>0 后<0 cm/s short v_liner_y; //差分轮 为0 cm/s short v_angular_z; //角速度 左>0 右<0 0.01rad/s 100 means 1 rad/s - long x; //里程计坐标x cm (这里long为4字节，下同) - long y; //里程计坐标y cm + long x; //里程计坐标x cm (这里long为4字节，下同) + long y; //里程计坐标y cm short yaw; //里程计航角 0.01rad 100 means 1 rad } ``` @@ -326,7 +326,7 @@ mz=[7B 94 94 C3] // -297.160004 { float encoder_count[4]; // 各电机编码器计数 } -``` + ``` ### 3.2.10 电机控制 - 请求:Master->Board diff --git a/Hardware/UPbot-Tools/app.py b/Hardware/UPbot-Tools/app.py index 3d24691..d43ebc3 100644 --- a/Hardware/UPbot-Tools/app.py +++ b/Hardware/UPbot-Tools/app.py @@ -14,7 +14,7 @@ from PyQt5.QtCore import QObject,pyqtSignal import pb import threading -port = "COM6" +port = "COM4" pypibot.assistant.enableGlobalExcept() # log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c index 1931d4c..d32c13c 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/BSPLIB/encoder.c @@ -1,155 +1,164 @@ #ifdef __cplusplus -extern "C" { -#endif +extern "C" +{ +#endif #include "encoder.h" #include "nvic.h" #include "print.h" -#define ENCODER_TIM_PERIOD (u16)(60000) // number of pulses per revolution +#define ENCODER_TIM_PERIOD (u16)(60000) // number of pulses per revolution -void Encoder_Init(TIM_TypeDef* TIMx , unsigned char GPIO_AF) //Initialize encoder mode, input parameter TIM1 TIM2 TIM3 -{ - TIM_ICInitTypeDef TIM_ICInitStructure; - GPIO_InitTypeDef GPIO_InitStructure; - TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; - if( TIMx == TIM2){ - - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE); /* enable clock */ - if(GPIO_AF == 0){ - //---------------------------------------------------------------TIM2 CHI1 CHI2---PA0 PA1; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOA, &GPIO_InitStructure); - } - else if(GPIO_AF == 1){ - //---------------------------------------------------------------TIM2 CHI1 CHI2---PA15 PB3; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO , ENABLE); - GPIO_PinRemapConfig(GPIO_FullRemap_TIM2,ENABLE); - GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);// This is very important! + void Encoder_Init(TIM_TypeDef *TIMx, unsigned char GPIO_AF) // Initialize encoder mode, input parameter TIM1 TIM2 TIM3 + { + TIM_ICInitTypeDef TIM_ICInitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + if (TIMx == TIM2) + { - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOA, &GPIO_InitStructure); - - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOB, &GPIO_InitStructure); - } - TIM2_NVIC_Configuration(); //enable interrupt - } - - else if( TIMx == TIM3){ - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA , ENABLE); /* enable clock */ - if(GPIO_AF == 0){ - //---------------------------------------------------------------TIM3 CHI1 CHI2---PA6 PA7; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOA, &GPIO_InitStructure); - } - else if (GPIO_AF == 1){ - //---------------------------------------------------------------TIM3 CHI1 CHI2---PB4 PB5; - GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE); - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOB, &GPIO_InitStructure); - } - TIM3_NVIC_Configuration(); //enable interrupt - - } - - else if( TIMx == TIM4){ - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 , ENABLE); /* enable clock */ - if(GPIO_AF == 0){ - //---------------------------------------------------------------TIM4 CHI1 CHI2---PB6 PB7; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOB, &GPIO_InitStructure); - } - else if (GPIO_AF == 1){ - //---------------------------------------------------------------TIM4 CHI1 CHI2---PD12 PD13; - GPIO_PinRemapConfig(GPIO_Remap_TIM4,ENABLE); - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOD, &GPIO_InitStructure); - - } - TIM4_NVIC_Configuration(); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); /* enable clock */ + if (GPIO_AF == 0) + { + //---------------------------------------------------------------TIM2 CHI1 CHI2---PA0 PA1; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); + } + else if (GPIO_AF == 1) + { + //---------------------------------------------------------------TIM2 CHI1 CHI2---PA15 PB3; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE); + GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE); + GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); // This is very important! - } - else if( TIMx == TIM5){ + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); - RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5 , ENABLE); - - if(GPIO_AF == 0){ - //---------------------------------------------------------------TIM5 CHI1 CHI2---PA0 PA1; - RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; - GPIO_Init(GPIOA, &GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOB, &GPIO_InitStructure); + } + TIM2_NVIC_Configuration(); // enable interrupt } - TIM5_NVIC_Configuration(); + + else if (TIMx == TIM3) + { + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA, ENABLE); /* enable clock */ + if (GPIO_AF == 0) + { + //---------------------------------------------------------------TIM3 CHI1 CHI2---PA6 PA7; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); + } + else if (GPIO_AF == 1) + { + //---------------------------------------------------------------TIM3 CHI1 CHI2---PB4 PB5; + GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE); + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOB, &GPIO_InitStructure); + } + TIM3_NVIC_Configuration(); // enable interrupt + } + + else if (TIMx == TIM4) + { + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE); /* enable clock */ + if (GPIO_AF == 0) + { + //---------------------------------------------------------------TIM4 CHI1 CHI2---PB6 PB7; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOB, &GPIO_InitStructure); + } + else if (GPIO_AF == 1) + { + //---------------------------------------------------------------TIM4 CHI1 CHI2---PD12 PD13; + GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE); + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOD, &GPIO_InitStructure); + } + TIM4_NVIC_Configuration(); + } + else if (TIMx == TIM5) + { + + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE); + + if (GPIO_AF == 0) + { + //---------------------------------------------------------------TIM5 CHI1 CHI2---PA0 PA1; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); + } + TIM5_NVIC_Configuration(); + } + + // 设定TIM_CKD_DIV1和TIM_ICFilter主要起到的是滤除高频信号噪声的作用 + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = 0x0; /* prescler : 72M/72 */ + TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; /* count upwards */ + TIM_TimeBaseInit(TIMx, &TIM_TimeBaseStructure); + + TIM_EncoderInterfaceConfig(TIMx, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); + TIM_ICStructInit(&TIM_ICInitStructure); + TIM_ICInitStructure.TIM_ICFilter = 10; + TIM_ICInit(TIMx, &TIM_ICInitStructure); + TIM_Cmd(TIMx, ENABLE); + TIMx->CNT = 0x7fff; } - TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); - TIM_TimeBaseStructure.TIM_Prescaler= 0x0; /* prescler : 72M/72 */ - TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; - TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; - TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; /* count upwards */ - TIM_TimeBaseInit(TIMx , &TIM_TimeBaseStructure); + float PB_Get_Encode_TIM2(void) + { + float cnt; + cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM2->CNT)); //! (float) is must + TIM2->CNT = 0x7fff; + return cnt; + } + float Get_EncoderTIM3(void) + { + float cnt; + cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM3->CNT)); + TIM3->CNT = 30000; + return cnt; + } - TIM_EncoderInterfaceConfig(TIMx, TIM_EncoderMode_TI12,TIM_ICPolarity_Rising, TIM_ICPolarity_Rising); - TIM_ICStructInit(&TIM_ICInitStructure); - TIM_ICInitStructure.TIM_ICFilter = 10; - TIM_ICInit(TIMx, &TIM_ICInitStructure); - TIM_Cmd(TIMx, ENABLE); - TIMx->CNT = 0x7fff; -} + float Get_EncoderTIM4(void) + { + float cnt; + cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM4->CNT)); + TIM4->CNT = 30000; + return cnt; + } -float PB_Get_Encode_TIM2(void) -{ - float cnt; - cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM2->CNT)) ; //! (float) is must - TIM2->CNT = 0x7fff; - return cnt; -} - -float Get_EncoderTIM3(void) -{ - float cnt; - cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM3->CNT)) ; - TIM3->CNT = 30000; - return cnt; -} - -float Get_EncoderTIM4(void) -{ - float cnt; - cnt = (float)((uint16_t)30000) - (float)((uint16_t)(TIM4->CNT)) ; - TIM4->CNT = 30000; - return cnt; -} - -float PB_Get_Encode_TIM5(void) -{ - float cnt; - cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM5->CNT)) ; - TIM5->CNT = 0x7fff; - return cnt; -} + float PB_Get_Encode_TIM5(void) + { + float cnt; + cnt = (float)((uint16_t)0x7fff) - (float)((uint16_t)(TIM5->CNT)); + TIM5->CNT = 0x7fff; + return cnt; + } #ifdef __cplusplus } -#endif +#endif diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h index b06e9d6..af1569d 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/differential.h @@ -19,15 +19,16 @@ public: virtual void motionSolver(float* robot_speed, float* motor_speed) { // robot_speed[0] x robot_speed[1] y robot_speed[2] z motor_speed[0] = (-robot_speed[0] + robot_speed[2] * body_radius)/ wheel_radius; - motor_speed[1] = (robot_speed[0] + robot_speed[2] * body_radius) / wheel_radius; + motor_speed[1] = ( robot_speed[0] + robot_speed[2] * body_radius) / wheel_radius; } //反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程 virtual void get_odom(struct Odom* odom, float* motor_dis, unsigned long interval) { - float dxy_ave = (-motor_dis[0] + motor_dis[1]) / 2.0; - float dth = (motor_dis[0] + motor_dis[1]) / (2* body_radius); - float vxy = 1000 * dxy_ave / interval; - float vth = 1000 * dth / interval; + + float dxy_ave = (-motor_dis[0] + motor_dis[1]) / 2.0; + float dth = ( motor_dis[0] + motor_dis[1]) / (2* body_radius); + float vxy = 1000 * dxy_ave / interval; + float vth = 1000 * dth / interval; odom->vel_x = vxy; odom->vel_y = 0; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h index 9028c3c..fac1a77 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/Lib/KinematicModels/omni3.h @@ -4,10 +4,9 @@ #include "model.h" #include "math.h" -//定义Motor数目 +// 定义Motor数目 #define MOTOR_COUNT 3 - #define sqrt_of_3 1.732f // 3轮全向模型接口实现 @@ -16,33 +15,37 @@ class Omni3 : public Model public: Omni3() {} Omni3(float _wheel_radius, float _body_radius) : Model(_wheel_radius, _body_radius) {} - - //运动解算 把给到机器人的速度分解为各个轮子速度 - void motionSolver(float* robot_speed, float* motor_speed) { + + // 运动解算 把给到机器人的速度分解为各个轮子速度 + void motionSolver(float *robot_speed, float *motor_speed) + { // robot_speed[0] x robot_speed[1] y robot_speed[2] z - motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius)/ wheel_radius; - motor_speed[1] = (-robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius; - motor_speed[2] = (robot_speed[0]*sqrt_of_3*0.5 - robot_speed[1]*0.5 + robot_speed[2] * body_radius) / wheel_radius; - } - - //反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程 - void get_odom(struct Odom* odom, float* motor_dis, unsigned long interval) { - if (motor_dis[0]!=0 || motor_dis[1]!=0 || motor_dis[2]!=0){ - //speed - float dvx = (-motor_dis[1]+motor_dis[2])*sqrt_of_3/3.0f; - float dvy = (motor_dis[0]*2-motor_dis[1]-motor_dis[2])/3.0f; - float dvth = (motor_dis[0]+motor_dis[1]+motor_dis[2])/ (3 * body_radius); - odom->vel_x = dvx / interval; - odom->vel_y = dvy / interval; - odom->vel_z = dvth / interval; + motor_speed[0] = (robot_speed[1] + robot_speed[2] * body_radius) / wheel_radius; + motor_speed[1] = (-robot_speed[0] * sqrt_of_3 * 0.5 - robot_speed[1] * 0.5 + robot_speed[2] * body_radius) / wheel_radius; + motor_speed[2] = (robot_speed[0] * sqrt_of_3 * 0.5 - robot_speed[1] * 0.5 + robot_speed[2] * body_radius) / wheel_radius; + } + + // 反解算， 把各个轮子的速度转为机器人的速度 ，这里通过固定时间间隔转为里程 + void get_odom(struct Odom *odom, float *motor_dis, unsigned long interval) + { + if (motor_dis[0] != 0 || motor_dis[1] != 0 || motor_dis[2] != 0) + { + // speed + float dvx = (-motor_dis[1] + motor_dis[2] ) * sqrt_of_3 / 3.0f; + float dvy = ( motor_dis[0] * 2 - motor_dis[1] - motor_dis[2]) / 3.0f; + float dvth = ( motor_dis[0] + motor_dis[1] + motor_dis[2]) / (3 * body_radius); + + odom->vel_x = dvx / interval; + odom->vel_y = dvy / interval; + odom->vel_z = dvth / interval; float th = odom->z; - //odometry - float dx = (-sin(th)*motor_dis[0]*2+(-sqrt_of_3*cos(th)+sin(th))*motor_dis[1]+(sqrt_of_3*cos(th)+sin(th))*motor_dis[2])/3.0f; - float dy = (cos(th)*motor_dis[0]*2+(-sqrt_of_3*sin(th)-cos(th))*motor_dis[1]+(sqrt_of_3*sin(th)-cos(th))*motor_dis[2])/3.0f; - float dth = (motor_dis[0]+motor_dis[1]+motor_dis[2])/ (3 * body_radius); - + // odometry + float dx = (-sin(th) * motor_dis[0] * 2 + (-sqrt_of_3 * cos(th) + sin(th)) * motor_dis[1] + (sqrt_of_3 * cos(th) + sin(th)) * motor_dis[2]) / 3.0f; + float dy = (cos(th) * motor_dis[0] * 2 + (-sqrt_of_3 * sin(th) - cos(th)) * motor_dis[1] + (sqrt_of_3 * sin(th) - cos(th)) * motor_dis[2]) / 3.0f; + float dth = (motor_dis[0] + motor_dis[1] + motor_dis[2]) / (3 * body_radius); + odom->x += dx; odom->y += dy; odom->z += dth; diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp index 0e0e7fc..d3b4599 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/User/robot.cpp @@ -432,7 +432,7 @@ void Robot::DoKinmatics() DataHolder::get()->pid_data.input[i] = int(input[i]); DataHolder::get()->pid_data.output[i] = int(feedback[i]); } - + log("output=%ld %ld", output[0], output[1]); #if PID_DEBUG_OUTPUT #if MOTOR_COUNT==2 log("output=%ld %ld", output[0], output[1]); @@ -486,7 +486,8 @@ void Robot::CalcOdom() #endif float dis[MOTOR_COUNT] = {0}; for (int i=0;iget_increment_count_for_odom()*__PI*DataHolder::get()->parameter.params.wheel_diameter*0.001/DataHolder::get()->parameter.params.encoder_resolution/DataHolder::get()->parameter.params.motor_ratio; #if ODOM_DEBUG_OUTPUT log(" %ld ", long(dis[i]*1000000)); diff --git a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx index c0f2aba..77f4bf3 100644 --- a/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx +++ b/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.0/STM32/pibot.uvoptx @@ -82,17 +82,17 @@ 0 Base Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf 1 Display Board Schematics (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf 2 User Manual (MCBSTM32E) - D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm + C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm 3 @@ -199,7 +199,7 @@ FWlib - 0 + 1 0 0 0 @@ -339,7 +339,7 @@ CMSIS - 0 + 1 0 0 0 @@ -415,7 +415,7 @@ STARTUP - 0 + 1 0 0 0 diff --git a/Hardware/银星机器人底盘/README.md b/Hardware/银星机器人底盘/README.md index 601c025..d5a4786 100644 --- a/Hardware/银星机器人底盘/README.md +++ b/Hardware/银星机器人底盘/README.md @@ -64,7 +64,14 @@ if (pwm_value > 5) { ​ 目前银星机器人采用的是霍尔编码器，但是其磁环的参数是未知的。常见的磁环的有22个极性。那么电机转动一圈下来就会产生44个脉冲计数。霍尔编码器原理详情见《霍尔编码器原理》。 ```c -// 运动距离 = (编码器数值 / 编码器一圈脉冲计数) * 减速比 * 轮子直径 / 2 * PI -dis = (encoder_num / ENCODER_RATIO) * reduction ratio * wheel_diameter / 2 * PI; +// 运动距离 = 编码器数值 / 编码器一圈脉冲计数 / 减速比 * 轮子直径 * PI +dis = (encoder_num / ENCODER_RATIO) / reduction ratio * wheel_diameter / PI; +``` + +​ 对应的，在`robot.cpp`中，可以看到里程计的换算，轮子直径原始是mm单位乘以0.001转m： + +```C++ +// 距离 = 编码器的增量 * PI * 轮子直径/ 编码器一圈脉冲计数 / 电机减速比 +dis[i] = encoder[i]->get_increment_count_for_odom()*__PI*DataHolder::get()->parameter.params.wheel_diameter*0.001/DataHolder::get()->parameter.params.encoder_resolution/DataHolder::get()->parameter.params.motor_ratio; ```