553 lines
21 KiB
C++
553 lines
21 KiB
C++
#include "robot.h"
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#include "board.h"
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#include "usart_transport.h"
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#include "simple_dataframe_slave.h"
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#include "data_holder.h"
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#if MOTOR_CONTROLLER == COMMON_CONTROLLER
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#include "common_motor_controller.h"
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#define MAX_PWM_VALUE 5000
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#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
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#include "afs_motor_controller.h"
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#define MAX_PWM_VALUE 255
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#endif
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#include "encoder_implement.h"
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#include "pid.h"
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#include "board_stm32.h"
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#if IMU_ENABLE
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#include "GY65.h"
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#include "GY85.h"
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#include "GY87.h"
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#endif
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#if JOYSTICK_ENABLE
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#include "joystick.h"
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#endif
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#include "print.h"
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#define min(a,b) ((a)<(b)?(a):(b))
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#define max(a,b) ((a)>(b)?(a):(b))
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Robot::Robot()
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{
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for (int i=0;i<MOTOR_COUNT;i++) {
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motor[i] = NULL;
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encoder[i] = NULL;
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pid[i] = NULL;
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input[i] = 0.0f;
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feedback[i] = 0.0f;
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}
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trans = NULL;
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frame = NULL;
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model = NULL;
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do_kinmatics_flag = false;
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last_velocity_command_time = 0;
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do_set_pwm_flag = false;
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#if IMU_ENABLE
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imu = NULL;
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#endif
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#if JOYSTICK_ENABLE
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joystick = NULL;
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#endif
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}
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void Robot::init()
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{
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// board初始化
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Board::get()->init();
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#if DEBUG_ENABLE
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// 调试串口初始化
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Board::get()->usart_debug_init();
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#endif
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// 加载参数， 该参数一般存储在flash或者eeprom
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Data_holder::get()->load_parameter();
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pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
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Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio,
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Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko,
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Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z);
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#if IMU_ENABLE
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// imu 初始化
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init_imu();
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#endif
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pb_printf("init_motor");
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// 电机相关初始化
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init_motor();
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pb_printf("init_trans");
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// 通讯相关初始化
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init_trans();
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// joystick初始化
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init_joystick();
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pb_printf("pibot startup");
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}
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void Robot::init_imu()
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{
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#if IMU_ENABLE
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if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY65) {
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pb_printf("imu gy65");
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static GY65 gy65;
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imu = &gy65;
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} else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY85) {
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pb_printf("imu gy85");
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static GY85 gy85;
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imu = &gy85;
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} else if (Data_holder::get()->parameter.params.imu_type == IMU_TYPE_GY87) {
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pb_printf("imu gy87");
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static GY87 gy87;
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imu = &gy87;
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} else {
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pb_printf("imu default null driver");
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imu = NULL;
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}
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if (imu != NULL) {
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imu->init();
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}
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#endif
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}
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void Robot::init_joystick()
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{
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#if JOYSTICK_ENABLE
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static Joystick joy;
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joystick = &joy;
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if (joystick)
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joystick->init();
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#endif
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}
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void Robot::init_motor()
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{
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//MOTOR_COUNT为电机数量 该宏定义在相应的机器人模型文件中， KinematicModels/differential.h
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#if MOTOR_COUNT>0 //电机1
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// MOTOR_CONTROLLER在params.mk中定义 表示电机控制器类型
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// 当前使用的COMMON_CONTROLLER为2个io控制方向一个PWD控制速度类型的控制器
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#if MOTOR_CONTROLLER == COMMON_CONTROLLER
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static CommonMotorController motor1(MOTOR_1, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
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#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
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static AFSMotorController motor1(MOTOR_1_PORT_NUM, MAX_PWM_VALUE);
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#endif
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// 定义使用的编码器 传入参数为编码器的AB GPIO引脚 定义在params.mk中
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static EncoderImp encoder1(MOTOR_1, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_1_FLAG)==0);
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// 定义PID控制对象 传入参数为输入和输出的地址及kp ki kd 这里ko为比例
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static PID pid1(&input[0], &feedback[0], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
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#endif
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#if MOTOR_COUNT>1 //电机2
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#if MOTOR_CONTROLLER == COMMON_CONTROLLER
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static CommonMotorController motor2(MOTOR_2, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
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#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
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static AFSMotorController motor2(MOTOR_2_PORT_NUM, MAX_PWM_VALUE);
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#endif
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static EncoderImp encoder2(MOTOR_2, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_2_FLAG)==0);
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static PID pid2(&input[1], &feedback[1], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
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#endif
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#if MOTOR_COUNT>2 //电机3
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#if MOTOR_CONTROLLER == COMMON_CONTROLLER
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static CommonMotorController motor3(MOTOR_3, MAX_PWM_VALUE, (Data_holder::get()->parameter.params.motor_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0); // MOTOR1_REVERS标识电机方向反向,等同于电机线交换
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#elif MOTOR_CONTROLLER == AF_SHIELD_CONTROLLER
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static AFSMotorController motor3(MOTOR_3);
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#endif
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static EncoderImp encoder3(MOTOR_3, (Data_holder::get()->parameter.params.encoder_nonexchange_flag & MOTOR_ENCODER_3_FLAG)==0);
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static PID pid3(&input[2], &feedback[2], float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
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#endif
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// 分别把地址保存在统一的数组内， 方便处理
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#if MOTOR_COUNT>0
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motor[0] = &motor1;
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encoder[0] = &encoder1;
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pid[0] = &pid1;
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#endif
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#if MOTOR_COUNT>1
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motor[1] = &motor2;
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encoder[1] = &encoder2;
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pid[1] = &pid2;
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#endif
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#if MOTOR_COUNT>2
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motor[2] = &motor3;
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encoder[2] = &encoder3;
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pid[2] = &pid3;
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#endif
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// 根据定义的模型参数ROBOT_MODEL， 创建模型对象及保存地址
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#if ROBOT_MODEL == MODEL_TYPE_2WD_DIFF //2轮差分
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static Differential diff(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
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model = &diff;
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#endif
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#if ROBOT_MODEL == MODEL_TYPE_3WD_OMNI //三轮全向
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static Omni3 omni3(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
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model = &omni3;
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#endif
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// 分别初始化各个控制器
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for (int i=0;i<MOTOR_COUNT;i++) {
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encoder[i]->init();
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motor[i]->init();
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}
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// 初始化各个变量
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do_kinmatics_flag = false;
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memset(&odom, 0 , sizeof(odom));
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memset(&input, 0 , sizeof(input));
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memset(&feedback, 0 , sizeof(feedback));
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last_velocity_command_time = 0;
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}
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void Robot::init_trans()
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{
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//定义一个串口通讯对象 ！！！注意这里USART_transport继承实现Transport接口，
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// 实现了一个通讯对象，这么做的原因是，如果我换为其他通讯方式，例如USB，只需要创建一个USB_Transport继承实现实现Transport接口就可以实现
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static USART_transport _trans(MASTER_USART, 115200);
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// 定义一个通讯协议处理对象， 同上， 我们需要更换协议只需要继承实现Dataframe的接口就可以实现
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static Simple_dataframe _frame(&_trans);
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// 保存对象指针
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trans = &_trans;
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frame = &_frame;
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// 初始化
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trans->init();
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frame->init();
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// 注册消息处理对象 ！！！ 这里把各个消息id的处理注册了一个观察者， 即再收到相应的消息后会回调update函数
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// Robot(this)继承实现了notify
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frame->register_notify(ID_SET_ROBOT_PARAMTER, this);
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frame->register_notify(ID_CLEAR_ODOM, this);
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frame->register_notify(ID_SET_VELOCITY, this);
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frame->register_notify(ID_GET_ENCODER_COUNT, this);
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frame->register_notify(ID_SET_MOTOR_PWM, this);
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}
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void Robot::check_command()
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{
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static unsigned long last_millis=0;
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if (Board::get()->get_tick_count()-last_millis>=50){
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last_millis = Board::get()->get_tick_count();
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Board::get()->setDOState(_RUN_LED, 2);
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}
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unsigned char ch=0;
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//从通讯设备(trans)读取数据交给协议处理模块(frame)处理
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if (trans->read(ch)) {
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if (frame->data_recv(ch)) {
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frame->data_parse(); // 这里检测到正确的一帧命令，做解析
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}
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}
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}
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// 实现Notify接口， 上面注册的命令id接收到时候，会回调，执行响应的动作
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void Robot::update(const MESSAGE_ID id, void* data)
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{
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switch (id) {
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case ID_SET_ROBOT_PARAMTER: //设置参数的回调， 这里会更新pid的参数， model的参数， 最终保存到flash
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pb_printf("RobotParameters: %d %d %d %d %d %d %d %d %d %d %d %d %d",
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Data_holder::get()->parameter.params.wheel_diameter, Data_holder::get()->parameter.params.wheel_track, Data_holder::get()->parameter.params.encoder_resolution, Data_holder::get()->parameter.params.motor_ratio,
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Data_holder::get()->parameter.params.do_pid_interval, Data_holder::get()->parameter.params.kp, Data_holder::get()->parameter.params.ki, Data_holder::get()->parameter.params.kd, Data_holder::get()->parameter.params.ko,
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Data_holder::get()->parameter.params.cmd_last_time, Data_holder::get()->parameter.params.max_v_liner_x, Data_holder::get()->parameter.params.max_v_liner_y, Data_holder::get()->parameter.params.max_v_angular_z);
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// 更新pid参数， 这样可以保证设置参数实时生效
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for (int i=0;i<MOTOR_COUNT;i++) {
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pid[i]->update(float(Data_holder::get()->parameter.params.kp)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.ki)/Data_holder::get()->parameter.params.ko,
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float(Data_holder::get()->parameter.params.kd)/Data_holder::get()->parameter.params.ko , MAX_PWM_VALUE);
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}
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// 更新模型参数， 这样可以保证设置参数实时生效
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model->set(Data_holder::get()->parameter.params.wheel_diameter*0.0005, Data_holder::get()->parameter.params.wheel_track*0.0005);
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// 保存参数到flash
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Data_holder::get()->save_parameter();
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break;
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case ID_CLEAR_ODOM: // 清除里程计信息
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clear_odom();
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break;
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case ID_SET_VELOCITY: // 设置机器人的速度
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update_velocity(); //更新机器人的期望速度
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break;
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case ID_GET_ENCODER_COUNT:
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update_encoder_count(); // 更新encoder count
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break;
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case ID_SET_MOTOR_PWM:
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update_pwm_value(); // 设置pwm值
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break;
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default:
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break;
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}
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}
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// 清除里程计数据及相关变量
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void Robot::clear_odom()
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{
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for (int i=0;i<MOTOR_COUNT;i++) {
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encoder[i]->clear();
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}
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memset(&odom, 0, sizeof(odom));
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memset(&Data_holder::get()->odom, 0, sizeof(Data_holder::get()->odom));
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}
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#define __PI 3.1415926535897932384626433832795
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//根据下发的速度更新期望速度， 并转为pid时间间隔内的期望编码器的变化值
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void Robot::update_velocity()
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{
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// 下发速度检测 保证限制在设置的最大最小值内
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short vx = min(max(Data_holder::get()->velocity.v_liner_x, -(short(Data_holder::get()->parameter.params.max_v_liner_x))), short(Data_holder::get()->parameter.params.max_v_liner_x));
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short vy = min(max(Data_holder::get()->velocity.v_liner_y, -(short(Data_holder::get()->parameter.params.max_v_liner_y))), short(Data_holder::get()->parameter.params.max_v_liner_y));
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short vz = min(max(Data_holder::get()->velocity.v_angular_z, -(short(Data_holder::get()->parameter.params.max_v_angular_z))), short(Data_holder::get()->parameter.params.max_v_angular_z));
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float vel[3]={vx/100.0, vy/100.0, vz/100.0}; // 保存速度转换单位 传入的速度值为cm/s 0.01rad/s 转为m/s 和rad/s
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float motor_speed[MOTOR_COUNT]={0};
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model->motion_solver(vel, motor_speed); // 期望的机器人的速度转换为各个电机的速度(通过设置的机器人模型接口)
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// 把得到的期望电机速度 (m/s)转换为期望pid时间间隔内编码器反馈的输入
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// 该值即为PID的输入
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for(int i=0;i<MOTOR_COUNT;i++) {
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input[i] = motor_speed[i]*short(Data_holder::get()->parameter.params.encoder_resolution)*short(Data_holder::get()->parameter.params.motor_ratio)/(2*__PI)*short(Data_holder::get()->parameter.params.do_pid_interval)*0.001;
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}
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//pb_printf("vx=%d %d motor_speed=%ld %ld", vx, vz, long(motor_speed[0]*1000), long(motor_speed[1]*1000));
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//保存时间戳
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last_velocity_command_time = Board::get()->get_tick_count();
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// 更新变量， 激活pid运算和控制电机
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do_kinmatics_flag = true;
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}
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void Robot::update_encoder_count()
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{
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for (int i=0; i<MOTOR_COUNT; i++) {
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Data_holder::get()->encoder_count[i] = encoder[i]->get_total_count();//输出累计编码器值 用于调试
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}
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}
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void Robot::update_pwm_value()
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{
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do_set_pwm_flag = true;
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}
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// pid运算， 控制电机
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void Robot::do_kinmatics()
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{
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if (do_set_pwm_flag) {
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do_set_pwm_flag = false;
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for (int i=0; i<MOTOR_COUNT; i++) {
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motor[i]->control(Data_holder::get()->pwm.value[i]);
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}
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}
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if (!do_kinmatics_flag) { // 停止后
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for(int i=0;i<MOTOR_COUNT;i++) {
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pid[i]->clear(); // 清除pid
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encoder[i]->get_increment_count_for_dopid();// 实时更新用于pid的encoder值
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}
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return; //do_kinmatics_flag false表示电机停止 不需要做pid 故返回
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}
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static unsigned long last_millis=0;
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// 判断时间间隔做pid运算
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if (Board::get()->get_tick_count()-last_millis>=Data_holder::get()->parameter.params.do_pid_interval) {
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last_millis = Board::get()->get_tick_count();
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//得到编码器的反馈差值， 即在do_pid_interval这段间隔时间内编码器的差值， 该值作为pid的反馈
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for (int i=0;i<MOTOR_COUNT;i++) {
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feedback[i] = encoder[i]->get_increment_count_for_dopid();
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}
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#if PID_DEBUG_OUTPUT
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#if MOTOR_COUNT==2
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pb_printf("input=%ld %ld feedback=%ld %ld", long(input[0]*1000), long(input[1]*1000),
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long(feedback[0]), long(feedback[1]));
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#endif
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||
#if MOTOR_COUNT==3
|
||
pb_printf("input=%ld %ld %ld feedback=%ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000),
|
||
long(feedback[0]), long(feedback[1]), long(feedback[2]));
|
||
#endif
|
||
#if MOTOR_COUNT==4
|
||
pb_printf("input=%ld %ld %ld %ld feedback=%ld %ld %ld %ld", long(input[0]*1000), long(input[1]*1000), long(input[2]*1000), long(input[3]*1000),
|
||
long(feedback[0]), long(feedback[1]), long(feedback[2]), long(feedback[3]));
|
||
#endif
|
||
#endif
|
||
bool stoped=true;
|
||
//当期望和反馈都为0 置位stoped标志
|
||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||
if (input[i] != 0 || feedback[i] != 0) {
|
||
stoped = false;
|
||
break;
|
||
}
|
||
}
|
||
|
||
short output[MOTOR_COUNT]={0};
|
||
if (stoped) {
|
||
do_kinmatics_flag = false;
|
||
} else {
|
||
// 没有需要停止则做pid运算，得到out值，该值作为电机模块控制器输入
|
||
for(int i=0;i<MOTOR_COUNT;i++) {
|
||
output[i] = pid[i]->compute(Data_holder::get()->parameter.params.do_pid_interval*0.001);
|
||
}
|
||
}
|
||
|
||
//当次计算完成 重置变量
|
||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||
Data_holder::get()->pid_data.input[i] = int(input[i]);
|
||
Data_holder::get()->pid_data.output[i] = int(feedback[i]);
|
||
}
|
||
|
||
#if PID_DEBUG_OUTPUT
|
||
#if MOTOR_COUNT==2
|
||
pb_printf("output=%ld %ld", output[0], output[1]);
|
||
#endif
|
||
#if MOTOR_COUNT==3
|
||
pb_printf("output=%ld %ld %ld", output[0], output[1], output[2]);
|
||
#endif
|
||
#if MOTOR_COUNT==4
|
||
pb_printf("output=%ld %ld %ld %ld", output[0], output[1], output[2], output[3]);
|
||
#endif
|
||
#endif
|
||
|
||
long elapsed_ms = Board::get()->get_tick_count()-last_velocity_command_time;
|
||
//判断上次下发的时间戳，如果超时，把各个电机期望的输入置零，pid下次会根据改期望计算pid输出转速，慢慢停止点击
|
||
if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time) {
|
||
memset(input, 0, sizeof(input));
|
||
if (elapsed_ms > Data_holder::get()->parameter.params.cmd_last_time*2) {
|
||
memset(output, 0, sizeof(output));
|
||
}
|
||
}
|
||
|
||
// 把pid得到的值交给电机控制器，该值有符号表示正反转
|
||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||
motor[i]->control(output[i]);
|
||
}
|
||
}
|
||
}
|
||
|
||
//计算里程计
|
||
void Robot::calc_odom()
|
||
{
|
||
static unsigned long last_millis=0;
|
||
//根据实际间隔计算轮子里程
|
||
if (Board::get()->get_tick_count()-last_millis>=CALC_ODOM_INTERVAL) {
|
||
last_millis = Board::get()->get_tick_count();
|
||
#if ODOM_DEBUG_OUTPUT
|
||
long total_count[MOTOR_COUNT]={0};
|
||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||
total_count[i] = encoder[i]->get_total_count(); //输出累计编码器值 用于调试
|
||
}
|
||
|
||
#if MOTOR_COUNT==2
|
||
pb_printf("total_count=[%ld %ld]", total_count[0], total_count[1]);
|
||
#endif
|
||
#if MOTOR_COUNT==3
|
||
pb_printf("total_count=[%ld %ld %ld]", total_count[0], total_count[1], total_count[2]);
|
||
#endif
|
||
#if MOTOR_COUNT==4
|
||
pb_printf("total_count=[%ld %ld %ld %ld]", total_count[0], total_count[1], total_count[2], total_count[3]);
|
||
#endif
|
||
#endif
|
||
float dis[MOTOR_COUNT] = {0};
|
||
for (int i=0;i<MOTOR_COUNT;i++) {
|
||
//根据CALC_ODOM_INTERVAL的间隔内的各个电机的编码器变化值，转换各个电机实际的里程
|
||
dis[i] = encoder[i]->get_increment_count_for_odom()*__PI*Data_holder::get()->parameter.params.wheel_diameter*0.001/Data_holder::get()->parameter.params.encoder_resolution/Data_holder::get()->parameter.params.motor_ratio;
|
||
#if ODOM_DEBUG_OUTPUT
|
||
pb_printf(" %ld ", long(dis[i]*1000000));
|
||
#endif
|
||
}
|
||
|
||
// 把计算得到的各个电机的里程转为为机器人里程(通过机器人运动模型对象)
|
||
model->get_odom(&odom, dis, CALC_ODOM_INTERVAL);
|
||
|
||
#if ODOM_DEBUG_OUTPUT
|
||
// 输出机器人的里程
|
||
pb_printf(" x=%ld y=%ld yaw=%ld", long(odom.x*1000), long(odom.y*1000), long(odom.z*1000));//mm
|
||
pb_printf("");
|
||
#endif
|
||
|
||
// 转换单位保存到Data_holder
|
||
Data_holder::get()->odom.v_liner_x = odom.vel_x*100; //转为cm/s
|
||
Data_holder::get()->odom.v_liner_y = odom.vel_y*100;
|
||
Data_holder::get()->odom.v_angular_z = odom.vel_z*100;
|
||
Data_holder::get()->odom.x = odom.x*100; //转为cm
|
||
Data_holder::get()->odom.y = odom.y*100;
|
||
Data_holder::get()->odom.yaw = long(odom.z*100)%628;//转为0.01rad 628为2pi*100
|
||
}
|
||
}
|
||
|
||
//获取imu数据
|
||
void Robot::get_imu_data()
|
||
{
|
||
#if IMU_ENABLE
|
||
if (imu == NULL) {
|
||
return;
|
||
}
|
||
|
||
static unsigned long last_millis=0;
|
||
//按照设置的时间间隔获取imu数据
|
||
if (Board::get()->get_tick_count()-last_millis>=CALC_IMU_INTERVAL) {
|
||
last_millis = Board::get()->get_tick_count();
|
||
imu->get_data(Data_holder::get()->imu_data);
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//检测joystick
|
||
void Robot::check_joystick()
|
||
{
|
||
#if JOYSTICK_ENABLE
|
||
if (joystick == NULL) {
|
||
return;
|
||
}
|
||
|
||
static unsigned long last_millis=0;
|
||
short liner_x=0, liner_y=0, angular_z=0;
|
||
if (Board::get()->get_tick_count()-last_millis>=CHECK_JOYSTICK_INTERVAL){
|
||
last_millis = Board::get()->get_tick_count();
|
||
// 按照设置的间隔间隔 更新期望速度
|
||
if (joystick->check(liner_x, liner_y, angular_z)) {
|
||
Data_holder::get()->velocity.v_liner_x = liner_x;
|
||
Data_holder::get()->velocity.v_liner_y = liner_y;
|
||
Data_holder::get()->velocity.v_angular_z = angular_z;
|
||
update_velocity();
|
||
}
|
||
|
||
joystick->test();
|
||
}
|
||
#endif
|
||
}
|