93ca37e36c
- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
39 lines
1.4 KiB
C
39 lines
1.4 KiB
C
#ifndef __BALANCE_H
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#define __BALANCE_H
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#include "sys.h"
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#include "system.h"
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#define BALANCE_TASK_PRIO 4 //Task priority //任务优先级
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#define BALANCE_STK_SIZE 512 //Task stack size //任务堆栈大小
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//Parameter of kinematics analysis of omnidirectional trolley
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//全向轮小车运动学分析参数
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#define X_PARAMETER (sqrt(3)/2.f)
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#define Y_PARAMETER (0.5f)
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#define L_PARAMETER (1.0f)
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extern short test_num;
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extern int robot_mode_check_flag;
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extern u8 command_lost_count; //串口、CAN控制命令丢失时间计数，丢失1秒后停止控制
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void Balance_task(void *pvParameters);
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void Set_Pwm(int motor_a,int motor_b,int motor_c,int motor_d,int servo);
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void Limit_Pwm(int amplitude);
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float target_limit_float(float insert,float low,float high);
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int target_limit_int(int insert,int low,int high);
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u8 Turn_Off( int voltage);
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u32 myabs(long int a);
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int Incremental_PI_A (float Encoder,float Target,float dt);
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int Incremental_PI_B (float Encoder,float Target,float dt);
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int Incremental_PI_C (float Encoder,float Target,float dt);
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int Incremental_PI_D (float Encoder,float Target,float dt);
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void Get_RC(void);
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void Remote_Control(void);
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void Drive_Motor(float Vx,float Vy,float Vz);
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void Key(void);
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void Get_Velocity_Form_Encoder(void);
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void Smooth_control(float vx,float vy,float vz);
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void PS2_control(void);
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float float_abs(float insert);
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void robot_mode_check(void);
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#endif
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