forked from logzhan/RobotHardware-UESTC
112 lines
3.1 KiB
C++
112 lines
3.1 KiB
C++
#ifndef DataHolder_H_
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#define DataHolder_H_
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#include <string.h>
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// 1字节对齐
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#pragma pack(1)
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struct Robot_firmware
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{
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char version[16]; //固件版本
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char time[16]; //构建时间
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};
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enum IMU_TYPE
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{
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IMU_TYPE_GY65 = 49,
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IMU_TYPE_GY85 = 69,
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IMU_TYPE_GY87 = 71
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};
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#define MOTOR_ENCODER_1_FLAG 0x01
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#define MOTOR_ENCODER_2_FLAG 0x02
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#define MOTOR_ENCODER_3_FLAG 0x04
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#define MOTOR_ENCODER_4_FLAG 0x08
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struct Params
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{
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unsigned short wheel_diameter; //轮子直径 mm
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unsigned short wheel_track; //差分：轮距， 三全向轮：直径，四全向：前后轮距+左右轮距 mm
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unsigned short encoder_resolution; //编码器分辨率
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unsigned char do_pid_interval; //pid间隔 (ms)
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unsigned short kp;
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unsigned short ki;
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unsigned short kd;
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unsigned short ko; //pid参数比例
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unsigned short cmd_last_time; //命令持久时间ms 超过该时间会自动停止运动
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unsigned short max_v_liner_x; // 最大x线速度
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unsigned short max_v_liner_y; // 最大y线速度
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unsigned short max_v_angular_z; // 最大角速度
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unsigned char imu_type; // imu类型 参见IMU_TYPE
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unsigned short motor_ratio; // 电机减速比
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unsigned char model_type; // 运动模型类型 参见MODEL_TYPE
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unsigned char motor_nonexchange_flag; // 电机标志参数 1 正接 0 反接(相当于电机线交换)
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unsigned char encoder_nonexchange_flag; // 编码器标志参数 1 正接 0 反接(相当于编码器ab相交换)
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};
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struct Robot_parameter
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{
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union
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{
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char buff[64];
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struct Params params;
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};
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};
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struct Robot_velocity
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{
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short v_liner_x; //线速度 前>0 cm/s
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short v_liner_y; //差分轮 为0 cm/s
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short v_angular_z; //角速度 左>0 0.01rad/s 100 means 1 rad/s
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};
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struct Robot_odom
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{
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short v_liner_x; //线速度 前>0 后<0 cm/s
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short v_liner_y; //差分轮 为0 cm/s
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short v_angular_z; //角速度 左>0 右<0 0.01rad/s 100 means 1 rad/s
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long x; //里程计坐标x cm (这里long为4字节，下同)
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long y; //里程计坐标y cm
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short yaw; //里程计航角 0.01rad 100 means 1 rad
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};
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struct Robot_pid_data
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{
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long input[4]; //各轮子驱动输入值
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long output[4]; //个轮子输出值
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};
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struct Robot_pwm_value
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{
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short value[4];
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};
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class DataHolder
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{
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public:
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static DataHolder* get() {
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static DataHolder dh;
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return &dh;
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}
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void loadParameter();
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void save_parameter();
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private:
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DataHolder();
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public:
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struct Robot_firmware firmware_info;//版本信息
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struct Robot_parameter parameter; //参数
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struct Robot_velocity velocity; // 速度
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struct Robot_odom odom; //里程
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struct Robot_pid_data pid_data; //pid输入输出
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float imu_data[9]; //imu的值 9axis
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float encoder_count[4]; // 编码器计数
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struct Robot_pwm_value pwm; // 控制的pwm
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};
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#endif
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