42 lines
1.3 KiB
C
42 lines
1.3 KiB
C
#ifndef __M3508_H
|
||
#define __M3508_H
|
||
#include "main.h"
|
||
#include "PID.h"
|
||
|
||
// 底盘参数（根据实际机械结构调整）
|
||
#define WHEEL_RADIUS 0.075f// 轮子半径 (米)
|
||
#define WHEELBASE_WIDTH 0.21f // 轮距宽度/2 (米)
|
||
#define WHEELBASE_LENGTH 0.17f // 轮距长度/2 (米)
|
||
|
||
typedef struct
|
||
{
|
||
uint16_t ecd;//编码器值 -16384--+16384
|
||
int16_t speed_rpm;//转速 转每分钟
|
||
int16_t given_current;//输出电流值
|
||
uint8_t temperate;//电机温度
|
||
int16_t last_ecd;//上次编码器值
|
||
} motor_measure_t;
|
||
|
||
|
||
// 电机控制结构体
|
||
typedef struct {
|
||
motor_measure_t measure; // 电机测量值（速度单位：RPM）
|
||
PID_Controller_t speed_pid; // 速度环PID
|
||
float target_speed; // 目标速度 (rad/s)
|
||
} Motor_Controller_t;
|
||
|
||
|
||
extern motor_measure_t motor_chassis[4];
|
||
extern Motor_Controller_t motor_controller[4];
|
||
extern int16_t motor_commands[4];
|
||
|
||
|
||
extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4);
|
||
extern float RPM_To_RadPerSec(int16_t rpm);
|
||
extern int16_t RadPerSec_To_RPM(float rad_per_sec);
|
||
extern void Set_Motor_Target_Speed(uint8_t motor_id, float target_speed_rad_s);
|
||
extern void Motor_Speed_Control_Task(float dt);
|
||
extern void Drive_Motor(float vx, float vy, float vz);
|
||
extern float Map_Remote_to_Speed(int16_t input, float max_speed);
|
||
extern void Process_Remote_Control(void);
|
||
#endif |