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Merge branch 'master' of http://172.30.0.1:8418/cbb/Robot_v2

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cbb
2026-03-09 01:47:30 +08:00
parent a26dd1cc8e c9934849c5
commit 1ee2f68a89
8 changed files with 359 additions and 171 deletions
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Robot_V2/device/Can.cpp
+25 -33
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@@ -19,7 +19,9 @@
#include <random>
constexpr u16 CANX = CAN0;
extern FOC_Controller FOC;
CAN_transmiter CAN0_transmiter; // CAN初始化
extern FOC_Controlroller FOC;
extern sampler sampler;
extern angle_sensor KTH7823;
extern EncoderAngleKalman Angle_kalman; // 角度滤波
@@ -573,47 +575,37 @@ void CAN_transmiter::communication_check() {
// }
if (current_message.rx_efid == CANFD_CMD_ID) {
// 控制模式
FOC.control_mode = current_message.rx_data[0];
// 目标电压限制
FOC.control_mode = receive_message.rx_data[0];
// 目标角度
FOC.limit_voltage =
float(unpack_bytes_to_u16(current_message.rx_data, 1)) / 1000;
// 目标电流
target_current_union.f =
unpack_bytes_to_float(current_message.rx_data, 3).f;
FOC.current_loop.set_limit(target_current_union.f);
FOC.vel_inMITloop.set_limit(target_current_union.f);
// 目标速度
target_velocity_union.f =
unpack_bytes_to_float(current_message.rx_data, 7).f;
FOC.ang_inVelAngloop.set_limit(target_velocity_union.f);
FOC.ang_inMITloop.set_limit(target_velocity_union.f);
float(unpack_bytes_to_u16(receive_message.rx_data, 1)) / 1000;
// 目标电流&目标速度
FOC.limit_velocity =
unpack_bytes_to_float(receive_message.rx_data, 3).f;
FOC.target_current = FOC.limit_velocity;
// 目标角度
target_angle_union.f =
unpack_bytes_to_float(current_message.rx_data, 11).f;
// 赋值
unpack_bytes_to_float(receive_message.rx_data, 7).f;
FOC.target_angle = target_angle_union.f;
// 目标速度
target_velocity_union.f =
unpack_bytes_to_float(receive_message.rx_data, 11).f;
FOC.target_velocity = target_velocity_union.f;
FOC.target_current = target_current_union.f;
// 解析PID参数
float voltage = FOC.limit_voltage;
// PID参数
u16 P_config = unpack_bytes_to_u16(current_message.rx_data, 15);
FOC.cur_loop_p = DEFAULT_current_loop_p * P_config / voltage;
FOC.cur_MIT_p = DEFAULT_current_MIT_p * P_config / voltage;
P_config = unpack_bytes_to_u16(current_message.rx_data, 17);
FOC.vel_loop_p = DEFAULT_vel_loop_p * P_config / voltage;
FOC.vel_angloop_p = DEFAULT_vel_angloop_p * P_config;
FOC.vel_MIT_p = DEFAULT_vel_MIT_p * P_config;
P_config = unpack_bytes_to_u16(current_message.rx_data, 19);
FOC.ang_loop_p = DEFAULT_angle_loop_p * P_config / voltage;
FOC.ang_angloop_p = DEFAULT_angle_angloop_p * P_config / voltage;
FOC.ang_MIT_p = DEFAULT_angle_MIT_p * P_config / voltage;
} else if (current_message.rx_efid == CANFD_RESET_ID) {
u8 first_byte = current_message.rx_data[0];
u8 eigth_byte = current_message.rx_data[7];
FOC.current_loop.set_P_percent(current_loop_p * P_config / voltage);
P_config = unpack_bytes_to_u16(receive_message.rx_data, 17);
FOC.vel_loop.set_P_percent(vel_loop_p * P_config / voltage);
P_config = unpack_bytes_to_u16(receive_message.rx_data, 19);
FOC.angle_loop.set_P_percent(angle_loop_p * P_config / voltage);
P_config = unpack_bytes_to_u16(receive_message.rx_data, 21);
FOC.vel_inVelAngloop.set_P_percent(vel_angloop_p * P_config /
voltage);
} else if (receive_message.rx_efid == CANFD_RESET_ID) {
u8 first_byte = receive_message.rx_data[0];
u8 eigth_byte = receive_message.rx_data[7];
// 电机重置
if (first_byte & 0x01) {
motor_reset();