继续优化平衡控制,多次连续跳跃,毫无压力。
增加原地起立功能。 简化控制,通过 esp32 遥控器直接控制,无需配网。 遥控器地址:#小程序://闲鱼/4I7SlDlYRnybNWd
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>legged wheel robot web ctrl</title>
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<style>
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h2{width: auto;height: 60px;line-height: 60px;text-align: center;font-family: 等线;color: white;background-color:cornflowerblue;border-radius: 12px;}
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input{width: 160px;height: 30px;margin: 0px;}
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.view{width: 140px;height: 30px;padding: 0px;margin: 15px auto;vertical-align:middle;}
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.dir{font-size: 15px;width: 100px;height: 60px;text-align: center;border-radius: 12px;background-color: white;color: cornflowerblue;border: 3px solid cornflowerblue;padding: 0px;transition: all 0.3s;}
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input[type='checkbox'].switch{outline: none;appearance: none;-webkit-appearance: none;-moz-appearance: none;position: relative;width: 40px;height: 20px;background: #ccc;border-radius: 10px;transition: border-color .3s, background-color .3s;margin: 0px 20px 0px 0px;}
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input[type='checkbox'].switch::after{content: '';display: inline-block;width: 1rem;height:1rem;border-radius: 50%;background: #fff;box-shadow: 0, 0, 2px, #999;transition:.4s;top: 2px;position: absolute;left: 2px;}
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input[type='checkbox'].switch:checked{background: rgb(78, 78, 240);}
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input[type='checkbox'].switch:checked::after{content: '';position: absolute;left: 55%;top: 2px;}
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*{-webkit-touch-callout:none;-webkit-user-select:none;-khtml-user-select:none;-moz-user-select:none;-ms-user-select:none;user-select:none;}
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.row{display: flex;justify-content: center;clear: both;}
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.columnLateral{float: left;width: 15%;min-width: 300px;}
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.buttons{width: 300px;height: 180px;padding: 10px;margin: 10px auto;position: relative;}
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#jump{display: inline-block;}
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</style>
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</head>
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<!-- onload 事件在页面载入完成后立即触发 -->
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<body onload="javascript:socket_init()">
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<h2>WL-PRO WiFi遥控模式</h2>
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<div class="view" style="display:none">
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<input type="checkbox" id="stable" class="switch" onclick="is_stable()" style="vertical-align:middle">Robot Go!</input>
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</div>
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<center>
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<!-- Example of two JoyStick integrated in the page structure -->
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<div class="row">
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<div class="columnLateral">
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<div id="joy1Div" style="width:200px;height:200px;margin:10px"></div>
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<!-- 新增显示 joy1 的 x 和 y 值 -->
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<div id="joy1Info">
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<span>Joy_x: <span id="joy1XValue">0</span></span>
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<br>
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<span>Joy_y: <span id="joy1YValue">0</span></span>
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</div>
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</div>
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<div class="columnLateral">
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<div id="joy2Div" style="width:200px;height:200px;margin:10px"></div>
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<!-- 新增显示 joy2 的 x 和 y 值 -->
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<div id="joy2Info">
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<span>Roll: <span id="joy2XValue">0</span></span>
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<br>
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<span>Height: <span id="joy2YValue">32</span></span>
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</div>
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</div>
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</div>
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<div class="buttons">
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<button class="dir" id="jump">Jump</button>
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</div>
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</center>
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<script>
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var socket; // socket通信
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var g_roll=0; g_h=38;
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var g_stable = 0;
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var joyX = 0;
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var joyY = 0;
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// socket_init在页面载入完成后触发
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function socket_init() {
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// 初始化websocket客户端
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//socket = new WebSocket('ws://' + '192.168.4.1' + ':81/'); // AP模式
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socket = new WebSocket('ws://' + window.location.hostname + ':81/'); // sta模式
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}
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function send_data() {
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var data = {
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'roll': g_roll,
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'height': g_h,
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'stable': g_stable,
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'mode': 'basic',
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'dir': "stop",
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'joy_y': joyY,
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'joy_x': joyX
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};
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console.log(data);
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socket.send(JSON.stringify(data));
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}
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function is_stable() {
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var obj = document.getElementById("stable");
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if(obj.checked) {
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// alert("is_stable checked");
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g_stable = 1;
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} else {
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// alert("is_stable unchecked");
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g_stable = 0;
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}
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send_data();
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}
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// 绑定按钮
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var buttons = document.getElementsByClassName("dir");
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for(i=0;i<buttons.length;i++) {
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buttons[i].addEventListener("mousedown",move,true);
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buttons[i].addEventListener("mouseup",stop,true);
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buttons[i].addEventListener("touchstart",move,true);
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buttons[i].addEventListener("touchend",stop,true);
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}
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function move() {
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this.style = "background-color: cornflowerblue; color: white;";
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var data = {
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'dir': this.id,
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'mode': 'basic',
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'roll': g_roll,
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'height': g_h,
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'stable': g_stable,
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'joy_x': joyX,
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'joy_y': joyY
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};
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console.log(data);
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socket.send(JSON.stringify(data));
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}
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function stop() {
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this.style = "background-color: white; color: cornflowerblue;";
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var data = {
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'dir': "stop",
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'mode': 'basic',
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'roll': g_roll,
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'height': g_h,
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'stable': g_stable,
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'joy_x': joyX,
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'joy_y': joyY
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};
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console.log(data); // 打印测试
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socket.send(JSON.stringify(data));
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}
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/*摇杆内容*/
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var JoyStick = (function(container, parameters) {
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parameters = parameters || {};
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var title = (typeof parameters.title === "undefined" ? "joystick" : parameters.title),
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width = (typeof parameters.width === "undefined" ? 0 : parameters.width),
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height = (typeof parameters.height === "undefined" ? 0 : parameters.height),
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internalFillColor = (typeof parameters.internalFillColor === "undefined" ? "#00979C" : parameters.internalFillColor),
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internalLineWidth = (typeof parameters.internalLineWidth === "undefined" ? 2 : parameters.internalLineWidth),
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internalStrokeColor = (typeof parameters.internalStrokeColor === "undefined" ? "#00979C" : parameters.internalStrokeColor),
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externalLineWidth = (typeof parameters.externalLineWidth === "undefined" ? 2 : parameters.externalLineWidth),
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externalStrokeColor = (typeof parameters.externalStrokeColor === "undefined" ? "#0097BC" : parameters.externalStrokeColor),
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autoReturnToCenter = (typeof parameters.autoReturnToCenter === "undefined" ? true : parameters.autoReturnToCenter);
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// Create Canvas element and add it in the Container object
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var objContainer = document.getElementById(container);
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var canvas = document.createElement("canvas");
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canvas.id = title;
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if(width === 0) { width = objContainer.clientWidth; }
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if(height === 0) { height = objContainer.clientHeight; }
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canvas.width = width;
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canvas.height = height;
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objContainer.appendChild(canvas);
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var context = canvas.getContext("2d");
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var isPressing = 0;
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var isMoving = 0;
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var isRelease = 0;
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var circumference = 2 * Math.PI;
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var internalRadius = (canvas.width - ((canvas.width / 2) + 10)) / 2;
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var maxMoveStick = internalRadius + 5;
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var externalRadius = internalRadius + 30;
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var centerX = canvas.width / 2;
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var centerY = canvas.height / 2;
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var directionHorizontalLimitPos = canvas.width / 10;
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var directionHorizontalLimitNeg = directionHorizontalLimitPos * -1;
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var directionVerticalLimitPos = canvas.height / 10;
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var directionVerticalLimitNeg = directionVerticalLimitPos * -1;
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// Used to save current position of stick
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var movedX = centerX;
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var movedY = centerY;
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// Check if the device support the touch or not
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if("ontouchstart" in document.documentElement) {
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canvas.addEventListener("touchstart", onTouchStart, true);
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canvas.addEventListener("touchmove", onTouchMove, true);
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document.addEventListener("touchend", onTouchEnd, true);
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} else {
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canvas.addEventListener("mousedown", onMouseDown, true);
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canvas.addEventListener("mousemove", onMouseMove, true);
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document.addEventListener("mouseup", onMouseUp, true);
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}
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// Draw the object
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drawExternal();
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drawInternal();
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/**
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* @desc Draw the external circle used as reference position
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*/
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function drawExternal() {
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context.beginPath();
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context.arc(centerX, centerY, externalRadius, 0, circumference, false);
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context.lineWidth = externalLineWidth;
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context.strokeStyle = externalStrokeColor;
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context.stroke();
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}
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/**
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* @desc Draw the internal stick in the current position the user have moved it
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*/
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function drawInternal() {
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context.beginPath();
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if(movedX < internalRadius) { movedX = maxMoveStick; }
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if((movedX + internalRadius) > canvas.width) { movedX = canvas.width - (maxMoveStick); }
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if(movedY < internalRadius) { movedY = maxMoveStick; }
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if((movedY + internalRadius) > canvas.height) { movedY = canvas.height - (maxMoveStick); }
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context.arc(movedX, movedY, internalRadius, 0, circumference, false);
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// create radial gradient
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var grd = context.createRadialGradient(centerX, centerY, 5, centerX, centerY, 200);
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// Light color
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grd.addColorStop(0, internalFillColor);
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// Dark color
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grd.addColorStop(1, internalStrokeColor);
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context.fillStyle = grd;
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context.fill();
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context.lineWidth = internalLineWidth;
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context.strokeStyle = internalStrokeColor;
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context.stroke();
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}
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function postCoordinate(containerId) {
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var xValue = (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
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var yValue = ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
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if(containerId === 'joy1Div') {
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joyX = xValue;
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joyY = yValue;
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// 更新 joy1 的显示信息
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document.getElementById('joy1XValue').textContent = xValue;
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document.getElementById('joy1YValue').textContent = yValue;
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} else if(containerId === 'joy2Div') {
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// 限定 x 轴 roll 取值范围
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let rollValue = parseInt((xValue * 30 / 100).toFixed());
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if (rollValue < -30) {
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rollValue = -30;
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} else if (rollValue > 30) {
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rollValue = 30;
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}
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g_roll = rollValue;
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// 限定 y 轴 小车高度 取值范围为 15 到 85
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let heightValue = parseInt(yValue) ;
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if (heightValue < 15) {
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heightValue = 15;
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} else if (heightValue > 85) {
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heightValue = 85;
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}
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g_h = heightValue;
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// 更新 joy2 的显示信息,显示实际限制后的值
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document.getElementById('joy2XValue').textContent = g_roll;
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document.getElementById('joy2YValue').textContent = g_h;
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}
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send_data();
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}
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function releaseControl() {
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joyX = 0;
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joyY = 0;
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g_roll = 0;
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g_h = 32;
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// 重置显示信息
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document.getElementById('joy1XValue').textContent = '0';
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document.getElementById('joy1YValue').textContent = '0';
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document.getElementById('joy2XValue').textContent = '0';
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document.getElementById('joy2YValue').textContent = g_h;
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send_data();
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}
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/**
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* @desc Events for manage touch
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*/
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function noTouch(event) {
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isPressing = 0;
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isMoving = 0;
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isRelease = 0;
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}
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function onTouchStart(event) {
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isPressing = 1;
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isMoving = 0;
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isRelease = 0;
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}
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function onTouchMove(event) {
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// Prevent the browser from doing its default thing (scroll, zoom)
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event.preventDefault();
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if(isPressing === 1 && event.targetTouches[0].target === canvas) {
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isMoving = 1;
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isRelease = 0;
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movedX = event.targetTouches[0].pageX;
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movedY = event.targetTouches[0].pageY;
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// Manage offset
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if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
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movedX -= canvas.offsetLeft;
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movedY -= canvas.offsetTop;
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} else {
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movedX -= canvas.offsetParent.offsetLeft;
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movedY -= canvas.offsetParent.offsetTop;
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}
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// Delete canvas
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context.clearRect(0, 0, canvas.width, canvas.height);
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// Redraw object
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drawExternal();
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drawInternal();
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postCoordinate(canvas.parentNode.id);
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}
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}
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function onTouchEnd(event) {
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//event.preventDefault();
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isPressing = 0;
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isMoving = 0;
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isRelease = 1;
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// If required reset position store variable
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if(autoReturnToCenter) {
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movedX = centerX;
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movedY = centerY;
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}
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// Delete canvas
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context.clearRect(0, 0, canvas.width, canvas.height);
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// Redraw object
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drawExternal();
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drawInternal();
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releaseControl();
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}
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/**
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* @desc Events for manage mouse
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*/
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function noMouse(event) {
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isPressing = 0;
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isMoving = 0;
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isRelease = 0;
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}
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function onMouseDown(event) {
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isPressing = 1;
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isMoving = 0;
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isRelease = 0;
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}
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function onMouseMove(event) {
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if(isPressing === 1) {
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isMoving = 1;
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isRelease = 0;
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movedX = event.pageX;
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movedY = event.pageY;
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// Manage offset
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if(canvas.offsetParent.tagName.toUpperCase() === "BODY") {
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movedX -= canvas.offsetLeft;
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movedY -= canvas.offsetTop;
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} else {
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movedX -= canvas.offsetParent.offsetLeft;
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movedY -= canvas.offsetParent.offsetTop;
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}
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// Delete canvas
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context.clearRect(0, 0, canvas.width, canvas.height);
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// Redraw object
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drawExternal();
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drawInternal();
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postCoordinate(canvas.parentNode.id);
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}
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}
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function onMouseUp(event) {
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isPressing = 0;
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isMoving = 0;
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isRelease = 1;
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// If required reset position store variable
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if(autoReturnToCenter) {
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movedX = centerX;
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movedY = centerY;
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}
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// Delete canvas
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context.clearRect(0, 0, canvas.width, canvas.height);
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// Redraw object
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drawExternal();
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drawInternal();
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releaseControl();
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}
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this.GetX = function () {
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return (100 * ((movedX - centerX) / maxMoveStick)).toFixed();
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};
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/**
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* @desc Normalizzed value of Y move of stick
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* @return Integer from -100 to +100
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*/
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this.GetY = function () {
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return ((100 * ((movedY - centerY) / maxMoveStick)) * -1).toFixed();
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};
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});
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var joy1Param = { "title": "1" };
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var Joy1 = new JoyStick('joy1Div', joy1Param);
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var joy2Param = { "title": "2" };
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var Joy2 = new JoyStick('joy2Div', joy2Param);
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</script>
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</body>
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</html>
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@@ -0,0 +1,777 @@
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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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// Modify by Tommy 2025.8.9
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// -----------------------------------------------------------------------------
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#include <esp_now.h>
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#include <WiFi.h>
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#include "main.h"
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/************实例定义*************/
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||||
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||||
// 电机实例
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BLDCMotor motor1 = BLDCMotor(7);
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BLDCMotor motor2 = BLDCMotor(7);
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BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
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BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
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// 编码器实例
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TwoWire I2Cone = TwoWire(0);
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TwoWire I2Ctwo = TwoWire(1);
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MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
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MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
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// PID控制器实例
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PIDController pid_angle(1, 0, 0, 100000, 8); // pitch角度PID使其趋于零点
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PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点
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PIDController pid_distance(0.5, 0, 0, 100000, 8);// 位移PID使其趋于零点
|
||||
PIDController pid_speed(0.7, 0, 0, 100000, 8);// 速度PID使其趋于目标速度
|
||||
PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
|
||||
PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
|
||||
PIDController pid_lqr_u(1, 15, 0, 100000, 8);
|
||||
PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
|
||||
PIDController pid_roll_angle(8, 0, 0, 100000, 450);
|
||||
|
||||
// 低通滤波器实例
|
||||
LowPassFilter lpf_joyy(0.2);
|
||||
LowPassFilter lpf_zeropoint(0.1);
|
||||
LowPassFilter lpf_roll(0.3);
|
||||
|
||||
void blinkLED();// 定义触发爆闪功能的函数
|
||||
|
||||
// WebServer实例
|
||||
WebServer webserver; // server服务器
|
||||
WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
|
||||
RobotProtocol rp(20);
|
||||
|
||||
// STS舵机实例
|
||||
SMS_STS sms_sts;
|
||||
|
||||
// MPU6050实例
|
||||
MPU6050 mpu6050(I2Ctwo);
|
||||
|
||||
/************参数定义*************/
|
||||
#define pi 3.1415927
|
||||
|
||||
// 舵机位置限制参数
|
||||
#define SERVO1_MIN 1900 // 舵机1最低 从小车正面看右手
|
||||
#define SERVO1_MAX 2400 // 舵机1最高
|
||||
#define SERVO2_MIN 2300 // 舵机2最低 从小车正面看左手(注意大小值与舵机1是相反的)
|
||||
#define SERVO2_MAX 1800 // 舵机2最高
|
||||
|
||||
// LQR自平衡控制器参数
|
||||
float LQR_angle = 0;
|
||||
float LQR_gyro = 0;
|
||||
float LQR_speed = 0;
|
||||
float LQR_distance = 0;
|
||||
float angle_control = 0;
|
||||
float gyro_control = 0;
|
||||
float speed_control = 0;
|
||||
float distance_control = 0;
|
||||
float LQR_u = 0;
|
||||
float angle_zeropoint = 5; // 3.4 在理想平衡状态下俯仰角度,向前到正,向后倒负
|
||||
float distance_zeropoint = -256.0; // 轮部位移零点偏置(-256为一个不可能的位移值,将其作为未刷新的标志)
|
||||
|
||||
// YAW轴控制数据
|
||||
float YAW_gyro = 0;
|
||||
float YAW_angle = 0;
|
||||
float YAW_angle_last = 0;
|
||||
float YAW_angle_total = 0;
|
||||
float YAW_angle_zero_point = -10;
|
||||
float YAW_output = 0;
|
||||
|
||||
// 腿部舵机控制数据
|
||||
byte ID[2];
|
||||
s16 Position[2];
|
||||
u16 Speed[2];
|
||||
byte ACC[2];
|
||||
|
||||
// 逻辑处理标志位
|
||||
float robot_speed = 0; // 记录当前轮部转速
|
||||
float robot_speed_last = 0; // 记录上一时刻的轮部转速
|
||||
int wrobot_move_stop_flag = 0; // 记录摇杆停止的标识
|
||||
int jump_flag = 0; // 跳跃时段标识
|
||||
float leg_position_add = 0; // roll轴平衡控制量
|
||||
int uncontrolable = 0; // 0未倒底,>0说明倒地了,机身倾角过大导致失控
|
||||
|
||||
|
||||
// 电压检测
|
||||
uint16_t bat_check_num = 0;
|
||||
int BAT_PIN = 35; // select the input pin for the ADC
|
||||
static esp_adc_cal_characteristics_t adc_chars;
|
||||
static const adc1_channel_t channel = ADC1_CHANNEL_7;
|
||||
static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
|
||||
static const adc_atten_t atten = ADC_ATTEN_DB_11;
|
||||
static const adc_unit_t unit = ADC_UNIT_1;
|
||||
|
||||
// 电量显示LED
|
||||
#define LED_BAT 13
|
||||
|
||||
|
||||
// 定义死区参数
|
||||
const int deadZone = 15;
|
||||
|
||||
typedef struct {
|
||||
byte j1PotX; // 左摇杆X (0-255)
|
||||
byte j1PotY; // 左摇杆Y (0-255)
|
||||
byte j2PotX; // 右摇杆X (0-255)
|
||||
byte j2PotY; // 右摇杆Y (0-255)
|
||||
bool buttonR1; //底部右按键 1:true (默认),0:false
|
||||
bool buttonR2; //底部左按键 1:true (默认),0:false
|
||||
bool j1Button; //左摇杆按键 1:true (默认),0:false
|
||||
bool j2Button; //右摇杆按键 1:true (默认),0:false
|
||||
bool buttonLB; //顶部左按键 1:true (默认),0:false
|
||||
bool buttonRB; //顶部右按键 1:true (默认),0:false
|
||||
bool tSwitch1; //拨动开关 1:true (默认),0:false
|
||||
byte roll; //用于M5StackCore2或未来增加的陀螺仪功能
|
||||
byte pitch;
|
||||
bool buttonR3;
|
||||
} JoystickData;
|
||||
|
||||
JoystickData remoteData;
|
||||
|
||||
// 定义全局变量,用于记录上次的值
|
||||
bool lastJ2Button = false;
|
||||
|
||||
// ESP-NOW接收回调函数
|
||||
void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
|
||||
memcpy(&remoteData, incomingData, sizeof(remoteData));
|
||||
|
||||
// Serial.print("j1PotX: ");
|
||||
// Serial.print(remoteData.j1PotX);
|
||||
// Serial.print(", j1PotY: ");
|
||||
// Serial.print(remoteData.j1PotY);
|
||||
// Serial.print(", j2PotX: ");
|
||||
// Serial.print(remoteData.j2PotX);
|
||||
// Serial.print(", j2PotY: ");
|
||||
// Serial.print(remoteData.j2PotY);
|
||||
// Serial.print(", j1Button: ");
|
||||
// Serial.print(remoteData.j1Button);
|
||||
// Serial.print(", j2Button: ");
|
||||
// Serial.println(remoteData.j2Button);
|
||||
|
||||
// 转换摇杆值,范围从 0-255 转到 -100 到 100
|
||||
int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
|
||||
// int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 15) + 15); // 转到 60 到 15 y轴取反
|
||||
int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 0) + 0); // 转到 60 到 0 y轴取反,这样可以使机身下降
|
||||
int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
|
||||
int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.2; // 转到 -100 到 100 y轴取反,放大
|
||||
|
||||
// 取反按钮值,使得默认显示 0 false,按下显示 1 true
|
||||
int convertedJ1Button = !remoteData.j1Button;
|
||||
int convertedJ2Button = !remoteData.j2Button;
|
||||
|
||||
|
||||
// 跳跃
|
||||
if (convertedJ1Button) { // 1=true,0=false
|
||||
wrobot.dir = 5; // 跳跃
|
||||
}else{
|
||||
wrobot.dir = 4; // 停止
|
||||
}
|
||||
|
||||
// led蓝灯爆闪
|
||||
if (lastJ2Button && !convertedJ2Button) {
|
||||
blinkLED();
|
||||
}
|
||||
// 更新上次 lastJ2Button 的值
|
||||
lastJ2Button = convertedJ2Button;
|
||||
|
||||
if(abs(convertedJ1PotY) > deadZone) { // 上下高度 15 ~ 75
|
||||
wrobot.height = convertedJ1PotY;
|
||||
}else{
|
||||
wrobot.height = 0;
|
||||
}
|
||||
// Serial.print("convertedJ1PotY:");
|
||||
// Serial.print(convertedJ1PotY);
|
||||
// Serial.print(",wrobot.height:");
|
||||
// Serial.println(wrobot.height);
|
||||
|
||||
if(abs(convertedJ1PotX) > deadZone) { // 左右摇摆 -30 ~ 30
|
||||
wrobot.roll = convertedJ1PotX;
|
||||
}else{
|
||||
wrobot.roll = 0;
|
||||
}
|
||||
if(abs(convertedJ2PotY) > deadZone) { // 前后运动 -100 到 100
|
||||
wrobot.joyy = convertedJ2PotY;
|
||||
}else{
|
||||
wrobot.joyy = 0;
|
||||
}
|
||||
if(abs(convertedJ2PotX) > deadZone) { // 左右运动 -100 到 100
|
||||
wrobot.joyx = convertedJ2PotX;
|
||||
} else {
|
||||
wrobot.joyx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200); // 通讯串口
|
||||
Serial2.begin(1000000); // 腿部sts舵机
|
||||
|
||||
// Wifi初始化
|
||||
WiFi_SetAP();
|
||||
webserver.begin();
|
||||
webserver.on("/", HTTP_GET, basicWebCallback);
|
||||
websocket.begin();
|
||||
websocket.onEvent(webSocketEventCallback);
|
||||
|
||||
// ESPNOW协议
|
||||
WiFi.mode(WIFI_MODE_STA); // 先设置为STA模式
|
||||
delay(100); // 短暂延迟
|
||||
// Serial.print("MAC Address: ");
|
||||
// Serial.println(WiFi.macAddress());
|
||||
|
||||
// 初始化ESP-NOW
|
||||
WiFi.mode(WIFI_STA);
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
esp_now_register_recv_cb(OnDataRecv);
|
||||
|
||||
// 舵机初始化
|
||||
// 舵机有效行程450
|
||||
// 左侧舵机[2048+12+50,2048+12+450]
|
||||
// 左侧舵机[2048-12-50,2048-12-450]
|
||||
sms_sts.pSerial = &Serial2;
|
||||
ID[0] = 1;
|
||||
ID[1] = 2;
|
||||
ACC[0] = 30;
|
||||
ACC[1] = 30;
|
||||
Speed[0] = 300;
|
||||
Speed[1] = 300;
|
||||
Position[0] = 2048;
|
||||
Position[1] = 2048;
|
||||
// 舵机(ID1/ID2)以最高速度V=2400步/秒,加速度A=50(50*100步/秒^2),运行至各自的Position位置
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
// 电压检测
|
||||
adc_calibration_init();
|
||||
adc1_config_width(width);
|
||||
adc1_config_channel_atten(channel, atten);
|
||||
esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
|
||||
|
||||
// 电量显示LED
|
||||
pinMode(LED_BAT, OUTPUT);
|
||||
|
||||
// 编码器设置
|
||||
I2Cone.begin(19, 18, 400000UL);
|
||||
I2Ctwo.begin(23, 5, 400000UL);
|
||||
sensor1.init(&I2Cone);
|
||||
sensor2.init(&I2Ctwo);
|
||||
|
||||
// mpu6050设置
|
||||
mpu6050.begin();
|
||||
mpu6050.calcGyroOffsets(true);
|
||||
|
||||
// 连接motor对象与编码器对象
|
||||
motor1.linkSensor(&sensor1);
|
||||
motor2.linkSensor(&sensor2);
|
||||
|
||||
// 速度环PID参数
|
||||
motor1.PID_velocity.P = 0.05;
|
||||
motor1.PID_velocity.I = 1;
|
||||
motor1.PID_velocity.D = 0;
|
||||
|
||||
motor2.PID_velocity.P = 0.05;
|
||||
motor2.PID_velocity.I = 1;
|
||||
motor2.PID_velocity.D = 0;
|
||||
|
||||
// 驱动器设置
|
||||
motor1.voltage_sensor_align = 6;
|
||||
motor2.voltage_sensor_align = 6;
|
||||
driver1.voltage_power_supply = 8;
|
||||
driver2.voltage_power_supply = 8;
|
||||
driver1.init();
|
||||
driver2.init();
|
||||
|
||||
// 连接motor对象与驱动器对象
|
||||
motor1.linkDriver(&driver1);
|
||||
motor2.linkDriver(&driver2);
|
||||
|
||||
motor1.torque_controller = TorqueControlType::voltage;
|
||||
motor2.torque_controller = TorqueControlType::voltage;
|
||||
motor1.controller = MotionControlType::torque;
|
||||
motor2.controller = MotionControlType::torque;
|
||||
|
||||
// monitor相关设置
|
||||
motor1.useMonitoring(Serial);
|
||||
motor2.useMonitoring(Serial);
|
||||
// 电机初始化
|
||||
motor1.init();
|
||||
motor1.initFOC();
|
||||
motor2.init();
|
||||
motor2.initFOC();
|
||||
|
||||
delay(500);
|
||||
}
|
||||
|
||||
// 用于判断跌倒方向
|
||||
// enum FallDirection {
|
||||
// NOT_FALLEN,
|
||||
// FORWARD_FALL,
|
||||
// BACKWARD_FALL
|
||||
// };
|
||||
|
||||
// FallDirection fall_direction = NOT_FALLEN;
|
||||
|
||||
void loop()
|
||||
{
|
||||
// playMS90S(); // 测试舵机
|
||||
|
||||
bat_check(); // 电压检测
|
||||
web_loop(); // Web数据更新
|
||||
mpu6050.update(); // IMU数据更新
|
||||
lqr_balance_loop(); // lqr自平衡控制,更新LQR_u
|
||||
yaw_loop(); // yaw轴转向控制,更新YAW_output
|
||||
leg_loop(); // 腿部动作控制,控制舵机SyncWritePosEx,包括判断jump_loop
|
||||
|
||||
// 记录上一次的遥控数据数据
|
||||
wrobot.dir_last = wrobot.dir;
|
||||
wrobot.joyx_last = wrobot.joyx;
|
||||
wrobot.joyy_last = wrobot.joyy;
|
||||
|
||||
// 将自平衡计算输出转矩赋给电机
|
||||
motor1.target = (-0.5) * (LQR_u + YAW_output);
|
||||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||||
// 倒地失控后关闭输出
|
||||
if (abs(LQR_angle) > 25.0f) // 角度大于25度,说明小车倒下了
|
||||
{
|
||||
uncontrolable = 1; // 倾斜角度大于25度,标记倒地
|
||||
|
||||
// if (LQR_angle > 25.0f) {
|
||||
// fall_direction = FORWARD_FALL;
|
||||
// } else if (LQR_angle < -25.0f) {
|
||||
// fall_direction = BACKWARD_FALL;
|
||||
// }
|
||||
|
||||
}
|
||||
if (uncontrolable != 0) // 倒地,延时200次程序循环,避免失控后继续输出
|
||||
{
|
||||
if (abs(LQR_angle) < 10.0f) // 角度小于10度,说明小车被扶起了
|
||||
{
|
||||
uncontrolable ++; // 倒地后,并被扶起,开始计数
|
||||
}
|
||||
if (uncontrolable > 150) // 倒地被扶起,计数超过150,说明平衡了,标记未倒地
|
||||
{
|
||||
uncontrolable = 0; // 标记未倒地
|
||||
// fall_direction = NOT_FALLEN;
|
||||
}
|
||||
// 还有一种可能,如果倒地,没有被扶起(角度大于10度),uncontrolable 一直等于1
|
||||
// --------未被扶起,向后倒地时的自动爬起逻辑
|
||||
// if (fall_direction == BACKWARD_FALL) {
|
||||
// // 轮子突然加速向后
|
||||
// motor1.target = 25.0; // 可根据实际情况调整
|
||||
// motor2.target = 25.0; // 可根据实际情况调整
|
||||
// } else {
|
||||
// 非向后倒地恢复状态,则关停电机输出
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
leg_position_add = 0;
|
||||
// }
|
||||
// --------未被扶起end
|
||||
}
|
||||
|
||||
// uncontrolable == 0 时,才能执行,否则target=0,电机没有输出
|
||||
|
||||
// 迭代计算FOC相电压
|
||||
motor1.loopFOC();
|
||||
motor2.loopFOC();
|
||||
|
||||
// 设置轮部电机输出
|
||||
motor1.move();
|
||||
motor2.move();
|
||||
|
||||
} // ----------------- void loop()
|
||||
|
||||
// lqr自平衡控制
|
||||
void lqr_balance_loop()
|
||||
{
|
||||
// LQR_distance,LQR_speed,LQR_angle,LQR_gyro 通过编码器或者mpu实际测得
|
||||
// angle_zeropoint,distance_zeropoint 角度零点和位置零点(在理想平衡状态下俯仰角度和位移目标值),用于和实际值做差,得到控制
|
||||
// angle_control , gyro_control , distance_control , speed_control : lqr 控制参数
|
||||
|
||||
// LQR平衡算式,实际使用中为便于调参,讲算式分解为4个P控制,采用PIDController方法在commander中实时调试
|
||||
// QR_u = LQR_k1*(LQR_angle - angle_zeropoint)
|
||||
// + LQR_k2*LQR_gyro
|
||||
// + LQR_k3*(LQR_distance - distance_zeropoint)
|
||||
// + LQR_k4*LQR_speed;
|
||||
|
||||
// 给负值是因为按照当前的电机接线,正转矩会向后转
|
||||
// 编码器反馈shaft_angle,计算电机转轴角度平均数
|
||||
LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle);
|
||||
// 编码器反馈实时角速度,计算电机转速平均数
|
||||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity);
|
||||
LQR_angle = (float)mpu6050.getAngleY(); // pitch 角度,向前倒正数,向后倒负数
|
||||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch 角速度
|
||||
// Serial.println(LQR_distance);
|
||||
|
||||
// 计算pitch的角度和角速度的pid控制值
|
||||
// 实际pitch角度与零点的差值,目标值是零
|
||||
// 计算角度误差,并通过 PID 控制器得到角度控制量
|
||||
angle_control = pid_angle(LQR_angle - angle_zeropoint);
|
||||
// 实际pitch 角速度与目标值的差值,目标值是零
|
||||
// 通过 PID 控制器对角速度进行处理,得到角速度控制量
|
||||
gyro_control = pid_gyro(LQR_gyro);
|
||||
|
||||
// 运动细节优化处理
|
||||
if (wrobot.joyy != 0) // 有前后方向运动指令时的处理
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
// joyy=0,没有输出前后运动,但是小车可能被推动,运动指令复零时的原地停车处理
|
||||
if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0))
|
||||
{
|
||||
wrobot_move_stop_flag = 1;
|
||||
}
|
||||
if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5))
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
wrobot_move_stop_flag = 0;
|
||||
}
|
||||
|
||||
if (abs(LQR_speed) > 15) // 被快速推动时的原地停车处理
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
}
|
||||
|
||||
// 计算pitch的角度和角速度的pid控制值
|
||||
// 电机转轴角度平均数(上面计算)-位移零点=实际位移与零点的差值, 目标值是零
|
||||
// 计算位移误差,并通过位移 PID 控制器得到位移控制量
|
||||
distance_control = pid_distance(LQR_distance - distance_zeropoint);
|
||||
// 电机转速平均数(上面计算)-速度目标值=实际转速与目标值的差值, 目标值是零
|
||||
// 计算速度误差(实际速度减去经过低通滤波和缩放后的遥控器期望速度),并通过速度 PID 控制器得到速度控制量
|
||||
speed_control = pid_speed(LQR_speed - 0.1 * lpf_joyy(wrobot.joyy));
|
||||
|
||||
// 轮部离地检测
|
||||
robot_speed_last = robot_speed; // 记录连续两次的轮部转速
|
||||
robot_speed = LQR_speed;
|
||||
// 若轮部角速度、角加速度过大或处于跳跃后的恢复时期,认为出现轮部离地现象,需要特殊处理
|
||||
// 轮部离地情况下,对轮部分量不输出;反之,正常状态下完整输出平衡转矩
|
||||
if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag != 0))
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
LQR_u = angle_control + gyro_control; // 轮部离地情况下,对轮部分量不输出;反之,正常状态下完整输出平衡转矩
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
else
|
||||
{
|
||||
// 当轮部未离地时,LQR_u 包含:角度控制量、角速度控制量、位移控制量和速度控制量,以实现完整的自平衡控制
|
||||
LQR_u = angle_control + gyro_control + distance_control + speed_control;
|
||||
// 计算得到LQR_u在loop()函数中在几个子loop执行完,被motor1执行
|
||||
|
||||
}
|
||||
|
||||
// 触发条件:遥控器无信号输入joyy=0、轮部位移控制正常介入distance_ctl<4、不处于跳跃后的恢复时期jump_flag=0
|
||||
if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0))
|
||||
{
|
||||
|
||||
LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
|
||||
// Serial.println(LQR_u);
|
||||
|
||||
// lpf_zeropoint 是一个低通滤波器,对 distance_control 进行滤波处理,减少高频噪声的影响。
|
||||
// 然后,将滤波后的 distance_control 作为输入,通过 pid_zeropoint 控制器进行进一步处理。
|
||||
// angle_zeropoint -= ...:将计算得到的调整量从 angle_zeropoint 中减去,实现重心自适应调整。
|
||||
// angle_zeropoint 是预设的角度零点,调整它可以让小车更好地适应不同的重心位置。
|
||||
angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control)); // 重心自适应
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
|
||||
// 平衡控制参数自适应
|
||||
if (wrobot.height < 50)
|
||||
{
|
||||
pid_speed.P = 0.7;
|
||||
}
|
||||
else if (wrobot.height < 64)
|
||||
{
|
||||
pid_speed.P = 0.6;
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_speed.P = 0.5;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 腿部动作控制(舵机)
|
||||
void leg_loop()
|
||||
{
|
||||
jump_loop();
|
||||
|
||||
if (jump_flag == 0) // 不处于跳跃状态
|
||||
{
|
||||
// 舵机加速度
|
||||
ACC[0] = 8;
|
||||
ACC[1] = 8;
|
||||
|
||||
// 舵机速度
|
||||
// Speed[0] = 200;
|
||||
// Speed[1] = 200;
|
||||
Speed[0] = 300;
|
||||
Speed[1] = 300;
|
||||
float roll_angle = (float)mpu6050.getAngleX() + 2.0;
|
||||
leg_position_add = pid_roll_angle(lpf_roll(roll_angle));
|
||||
|
||||
int roll_offset = wrobot.roll;
|
||||
int left_height, right_height;
|
||||
|
||||
// 转弯倾斜效果
|
||||
// if (wrobot.joyx > 10) { // 向右转弯
|
||||
// left_height = wrobot.height + wrobot.joyx * 0.1; // 左腿抬高
|
||||
// right_height = wrobot.height;
|
||||
|
||||
// } else if (wrobot.joyx < -10) { // 向左转弯
|
||||
// left_height = wrobot.height;
|
||||
// right_height = wrobot.height - wrobot.joyx * 0.1; // 右腿抬高
|
||||
|
||||
// } else { // 正常情况
|
||||
|
||||
// Serial.print("roll_offset: ");
|
||||
// Serial.println(roll_offset);
|
||||
|
||||
// 如果控制了 roll 角度,则调整左右脚的高度
|
||||
// 计算三角函数值
|
||||
float angleRad = abs(roll_offset) * (pi / 180.0); // 将角度转换为弧度
|
||||
float heightAdjust = 30 * sin(angleRad); // 小车宽度的一半是30毫米,抬高的高度是30毫米*sin(弧度)
|
||||
float RollOffset = 18; // 所以水平高度需要加上调整高度,否则向下倾斜无法向下了
|
||||
if (roll_offset > 10) {
|
||||
// 正数,左脚高度 60,右脚高度 40
|
||||
// 因为车身高度最小32,所以水平高度需要加上调整高度15,否则线下倾斜无法向下了
|
||||
left_height = wrobot.height + RollOffset + heightAdjust;
|
||||
right_height = wrobot.height + RollOffset - heightAdjust;
|
||||
leg_position_add = 0; // 不使用roll角度 pid计算
|
||||
} else if (roll_offset < -10) {
|
||||
// 负数,左脚高度 40,右脚高度 60
|
||||
left_height = wrobot.height + RollOffset - heightAdjust;
|
||||
right_height = wrobot.height + RollOffset + heightAdjust;
|
||||
leg_position_add = 0;
|
||||
} else { // 未控制 roll 角度
|
||||
// roll 为 0,左右恢复到同一高度
|
||||
left_height = wrobot.height;
|
||||
right_height = wrobot.height;
|
||||
// 没有人为控制roll角度,leg_position_add根据mpu6050 roll值 进行pid计算得到,以保持小车机身平稳
|
||||
// 但如果小车倒地,则不需要keep roll角度,否则小车倒在地上,1个脚长,1个脚短,很难看
|
||||
if (abs(LQR_angle) > 25.0f)
|
||||
{
|
||||
leg_position_add = 0;
|
||||
}
|
||||
}
|
||||
// }
|
||||
|
||||
// 根据新的高度计算舵机位置
|
||||
// id 1 [0] 正面看右手,id 2 正面看左手 [1]
|
||||
// 舵机id 1:1900(机身最矮) 2400(机身最高)
|
||||
// 舵机id 2:2300(机身最矮) 1800(机身最高)
|
||||
// 2048是舵机中间位置,12是微调偏移量,8.4是系数,32是默认高度,最高80,最低32
|
||||
Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add;
|
||||
Position[1] = 2048 - 12 - 8.4 * (right_height - 32) - leg_position_add;
|
||||
// Position[0] = 2048 + 12 + 8.4 * (left_height - 52) - leg_position_add; // -52 机身下降20
|
||||
// Position[1] = 2048 - 12 - 8.4 * (right_height - 52) - leg_position_add;
|
||||
// Position[0] = 2048 + 12 + 8.4 * (left_height - 0) - leg_position_add; // 不减32 机身高度默认抬高32
|
||||
// Position[1] = 2048 - 12 - 8.4 * (right_height - 0) - leg_position_add;
|
||||
|
||||
// Serial.print("left_height: ");
|
||||
// Serial.print(left_height);
|
||||
// Serial.print(", right_height: ");
|
||||
// Serial.print(right_height);
|
||||
// Serial.print(", leg_position_add: ");
|
||||
// Serial.println(leg_position_add);
|
||||
|
||||
|
||||
// 限制舵机位置范围
|
||||
if (Position[0] < SERVO1_MIN) // 舵机1最低
|
||||
Position[0] = SERVO1_MIN;
|
||||
else if (Position[0] > SERVO1_MAX) // 舵机1最高
|
||||
Position[0] = SERVO1_MAX;
|
||||
|
||||
if (Position[1] > SERVO2_MIN) // 舵机2最低(和舵机1方向是反的)
|
||||
Position[1] = SERVO2_MIN;
|
||||
else if (Position[1] < SERVO2_MAX) // 舵机2最高
|
||||
Position[1] = SERVO2_MAX;
|
||||
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
}
|
||||
|
||||
// 跳跃控制
|
||||
void jump_loop()
|
||||
{ // 5=JUMP,4=STOP 上次动作是跳跃5,本次是停止0,才开始跳,因为可能连续发送了很多5跳跃指令,只执行最后一次
|
||||
// 跳跃,腿部以最快速度伸到最长
|
||||
if ((wrobot.dir_last == 5) && (wrobot.dir == 4) && (jump_flag == 0))
|
||||
{ // 跳跃开始
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
// Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 值越大,腿伸的越长,原来80 改为60降低腿部高度,即车重心
|
||||
// Position[1] = 2048 - 12 - 8.4 * (60 - 32);
|
||||
Position[0] = SERVO1_MAX;
|
||||
Position[1] = SERVO2_MAX;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
jump_flag = 1;
|
||||
}
|
||||
if (jump_flag > 0) // 跳跃中,腿部缩起来,等待30帧,对应上面设置 jump_flag = 1;
|
||||
{
|
||||
jump_flag++;
|
||||
if ((jump_flag > 30) && (jump_flag < 35))
|
||||
{
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = 2048 + 12 + 8.4 * (35 - 32); // 降低腿部高度,即车重心
|
||||
Position[1] = 2048 - 12 - 8.4 * (35 - 32);
|
||||
// Position[0] = SERVO1_MIN; // 舵机1最低
|
||||
// Position[1] = SERVO2_MIN; // 舵机2最低
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
jump_flag = 40;
|
||||
}
|
||||
if (jump_flag > 200)
|
||||
{
|
||||
jump_flag = 0; // 跳跃过程结束
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// yaw轴转向控制 (转向控制)
|
||||
void yaw_loop()
|
||||
{
|
||||
// YAW_output = 0.03*(YAW_Kp*YAW_angle_total + YAW_Kd*YAW_gyro);
|
||||
yaw_angle_addup();
|
||||
|
||||
YAW_angle_total += wrobot.joyx * 0.008; // 0.002
|
||||
float yaw_angle_control = pid_yaw_angle(YAW_angle_total);
|
||||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
|
||||
// yaw 轴的角度和角速度数据进行了 PID 控制,得到 yaw_angle_control 和 yaw_gyro_control。
|
||||
// 然后,将这两个控制量相加,得到最终的 YAW_output。
|
||||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||||
}
|
||||
|
||||
// Web数据更新
|
||||
void web_loop()
|
||||
{
|
||||
webserver.handleClient();
|
||||
websocket.loop();
|
||||
rp.spinOnce(); // 更新web端回传的控制信息
|
||||
}
|
||||
|
||||
// yaw轴角度累加函数
|
||||
void yaw_angle_addup()
|
||||
{
|
||||
YAW_angle = (float)mpu6050.getAngleZ();
|
||||
YAW_gyro = (float)mpu6050.getGyroZ();
|
||||
|
||||
if (YAW_angle_zero_point == (-10))
|
||||
{
|
||||
YAW_angle_zero_point = YAW_angle;
|
||||
}
|
||||
|
||||
float yaw_angle_1, yaw_angle_2, yaw_addup_angle;
|
||||
if (YAW_angle > YAW_angle_last)
|
||||
{
|
||||
yaw_angle_1 = YAW_angle - YAW_angle_last;
|
||||
yaw_angle_2 = YAW_angle - YAW_angle_last - 2 * PI;
|
||||
}
|
||||
else
|
||||
{
|
||||
yaw_angle_1 = YAW_angle - YAW_angle_last;
|
||||
yaw_angle_2 = YAW_angle - YAW_angle_last + 2 * PI;
|
||||
}
|
||||
|
||||
if (abs(yaw_angle_1) > abs(yaw_angle_2))
|
||||
{
|
||||
yaw_addup_angle = yaw_angle_2;
|
||||
}
|
||||
else
|
||||
{
|
||||
yaw_addup_angle = yaw_angle_1;
|
||||
}
|
||||
|
||||
YAW_angle_total = YAW_angle_total + yaw_addup_angle;
|
||||
YAW_angle_last = YAW_angle;
|
||||
}
|
||||
|
||||
void basicWebCallback(void)
|
||||
{
|
||||
webserver.send(300, "text/html", basic_web);
|
||||
}
|
||||
|
||||
void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
|
||||
{
|
||||
if (type == WStype_TEXT)
|
||||
{
|
||||
String payload_str = String((char *)payload);
|
||||
StaticJsonDocument<300> doc;
|
||||
DeserializationError error = deserializeJson(doc, payload_str);
|
||||
|
||||
String mode_str = doc["mode"];
|
||||
if (mode_str == "basic")
|
||||
{
|
||||
rp.parseBasic(doc);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 电压检测初始化
|
||||
void adc_calibration_init()
|
||||
{
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK)
|
||||
{
|
||||
printf("eFuse Two Point: Supported\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("eFuse Two Point: NOT supported\n");
|
||||
}
|
||||
// Check Vref is burned into eFuse
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK)
|
||||
{
|
||||
printf("eFuse Vref: Supported\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("eFuse Vref: NOT supported\n");
|
||||
}
|
||||
}
|
||||
|
||||
// 电压检测
|
||||
void bat_check()
|
||||
{
|
||||
if (bat_check_num > 1000)
|
||||
{
|
||||
// 电压读取
|
||||
uint32_t sum = 0;
|
||||
sum = analogRead(BAT_PIN);
|
||||
uint32_t voltage = esp_adc_cal_raw_to_voltage(sum, &adc_chars);
|
||||
double battery = (voltage * 3.97) / 1000.0;
|
||||
|
||||
// Serial.println(battery);
|
||||
// 电量显示
|
||||
if (battery > 7.8)
|
||||
digitalWrite(LED_BAT, HIGH);
|
||||
else
|
||||
digitalWrite(LED_BAT, LOW);
|
||||
|
||||
bat_check_num = 0;
|
||||
}
|
||||
else
|
||||
bat_check_num++;
|
||||
}
|
||||
|
||||
// 封装LED闪烁函数
|
||||
void blinkLED() {
|
||||
const int flashInterval = 200; // 闪烁间隔时间,单位毫秒
|
||||
const int flashTimes = 2; // 闪烁次数
|
||||
for (int i = 0; i < flashTimes; ++i) {
|
||||
digitalWrite(LED_BAT, LOW); // 熄灭LED
|
||||
delay(flashInterval);
|
||||
digitalWrite(LED_BAT, HIGH); // 点亮LED
|
||||
delay(flashInterval);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,784 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
// Modify by Tommy
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
#include <esp_now.h>
|
||||
#include <WiFi.h>
|
||||
#include "main.h"
|
||||
|
||||
/************实例定义*************/
|
||||
|
||||
// 电机实例
|
||||
BLDCMotor motor1 = BLDCMotor(7);
|
||||
BLDCMotor motor2 = BLDCMotor(7);
|
||||
BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
|
||||
BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
|
||||
|
||||
// 编码器实例
|
||||
TwoWire I2Cone = TwoWire(0);
|
||||
TwoWire I2Ctwo = TwoWire(1);
|
||||
MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
|
||||
MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
|
||||
|
||||
// PID控制器实例
|
||||
PIDController pid_angle(1, 0, 0, 100000, 8);
|
||||
PIDController pid_gyro(0.06, 0, 0, 100000, 8);
|
||||
PIDController pid_distance(0.5, 0, 0, 100000, 8);
|
||||
PIDController pid_speed(0.7, 0, 0, 100000, 8);
|
||||
PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
|
||||
PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
|
||||
PIDController pid_lqr_u(1, 15, 0, 100000, 8);
|
||||
PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
|
||||
PIDController pid_roll_angle(8, 0, 0, 100000, 450);
|
||||
|
||||
// 低通滤波器实例
|
||||
LowPassFilter lpf_joyy(0.2);
|
||||
LowPassFilter lpf_zeropoint(0.1);
|
||||
LowPassFilter lpf_roll(0.3);
|
||||
|
||||
void blinkLED();// 定义触发爆闪功能的函数
|
||||
|
||||
// WebServer实例
|
||||
WebServer webserver; // server服务器
|
||||
WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
|
||||
RobotProtocol rp(20);
|
||||
|
||||
|
||||
// STS舵机实例
|
||||
SMS_STS sms_sts;
|
||||
|
||||
// MPU6050实例
|
||||
MPU6050 mpu6050(I2Ctwo);
|
||||
|
||||
/************参数定义*************/
|
||||
#define pi 3.1415927
|
||||
|
||||
// LQR自平衡控制器参数
|
||||
float LQR_angle = 0;
|
||||
float LQR_gyro = 0;
|
||||
float LQR_speed = 0;
|
||||
float LQR_distance = 0;
|
||||
float angle_control = 0;
|
||||
float gyro_control = 0;
|
||||
float speed_control = 0;
|
||||
float distance_control = 0;
|
||||
float LQR_u = 0;
|
||||
float angle_zeropoint = 5; // 3.4 在理想平衡状态下俯仰角度,向前到正,向后倒负
|
||||
float distance_zeropoint = -256.0; // 轮部位移零点偏置(-256为一个不可能的位移值,将其作为未刷新的标志)
|
||||
|
||||
// YAW轴控制数据
|
||||
float YAW_gyro = 0;
|
||||
float YAW_angle = 0;
|
||||
float YAW_angle_last = 0;
|
||||
float YAW_angle_total = 0;
|
||||
float YAW_angle_zero_point = -10;
|
||||
float YAW_output = 0;
|
||||
|
||||
// 腿部舵机控制数据
|
||||
byte ID[2];
|
||||
s16 Position[2];
|
||||
u16 Speed[2];
|
||||
byte ACC[2];
|
||||
|
||||
// 逻辑处理标志位
|
||||
float robot_speed = 0; // 记录当前轮部转速
|
||||
float robot_speed_last = 0; // 记录上一时刻的轮部转速
|
||||
int wrobot_move_stop_flag = 0; // 记录摇杆停止的标识
|
||||
int jump_flag = 0; // 跳跃时段标识
|
||||
float leg_position_add = 0; // roll轴平衡控制量
|
||||
int uncontrolable = 0; // 0未倒底,>0说明倒地了,机身倾角过大导致失控
|
||||
|
||||
|
||||
// 电压检测
|
||||
uint16_t bat_check_num = 0;
|
||||
int BAT_PIN = 35; // select the input pin for the ADC
|
||||
static esp_adc_cal_characteristics_t adc_chars;
|
||||
static const adc1_channel_t channel = ADC1_CHANNEL_7;
|
||||
static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
|
||||
static const adc_atten_t atten = ADC_ATTEN_DB_11;
|
||||
static const adc_unit_t unit = ADC_UNIT_1;
|
||||
|
||||
// 电量显示LED
|
||||
#define LED_BAT 13
|
||||
|
||||
|
||||
// 定义死区参数
|
||||
const int deadZone = 15;
|
||||
|
||||
typedef struct {
|
||||
byte j1PotX; // 左摇杆X (0-255)
|
||||
byte j1PotY; // 左摇杆Y (0-255)
|
||||
byte j2PotX; // 右摇杆X (0-255)
|
||||
byte j2PotY; // 右摇杆Y (0-255)
|
||||
bool buttonR1; //底部右按键 1:true (默认),0:false
|
||||
bool buttonR2; //底部左按键 1:true (默认),0:false
|
||||
bool j1Button; //左摇杆按键 1:true (默认),0:false
|
||||
bool j2Button; //右摇杆按键 1:true (默认),0:false
|
||||
bool buttonLB; //顶部左按键 1:true (默认),0:false
|
||||
bool buttonRB; //顶部右按键 1:true (默认),0:false
|
||||
bool tSwitch1; //拨动开关 1:true (默认),0:false
|
||||
byte roll; //用于M5StackCore2或未来增加的陀螺仪功能
|
||||
byte pitch;
|
||||
bool buttonR3;
|
||||
} JoystickData;
|
||||
|
||||
JoystickData remoteData;
|
||||
// 定义全局变量,用于记录上次 j1Button 的值
|
||||
bool lastButtonAPressed = false;
|
||||
|
||||
// ESP-NOW接收回调函数
|
||||
void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
|
||||
memcpy(&remoteData, incomingData, sizeof(remoteData));
|
||||
|
||||
// Serial.print("j1PotX: ");
|
||||
// Serial.print(remoteData.j1PotX);
|
||||
// Serial.print(", j1PotY: ");
|
||||
// Serial.print(remoteData.j1PotY);
|
||||
// Serial.print(", j2PotX: ");
|
||||
// Serial.print(remoteData.j2PotX);
|
||||
// Serial.print(", j2PotY: ");
|
||||
// Serial.print(remoteData.j2PotY);
|
||||
// Serial.print(", j1Button: ");
|
||||
// Serial.print(remoteData.j1Button);
|
||||
// Serial.print(", j2Button: ");
|
||||
// Serial.println(remoteData.j2Button);
|
||||
|
||||
// 转换摇杆值,范围从 0-255 转到 -100 到 100
|
||||
int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
|
||||
// int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 15) + 15); // 转到 60 到 15 y轴取反
|
||||
int convertedJ1PotY = static_cast<int>((1 - remoteData.j1PotY / 255.0) * (60 - 0) + 0); // 转到 60 到 0 y轴取反,这样可以使机身下降
|
||||
int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
|
||||
int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.2; // 转到 -100 到 100 y轴取反,放大
|
||||
|
||||
// 取反按钮值,使得默认显示 0 false,按下显示 1 true
|
||||
int convertedJ1Button = !remoteData.j1Button;
|
||||
int convertedJ2Button = !remoteData.j2Button;
|
||||
|
||||
|
||||
// 跳跃
|
||||
if (convertedJ1Button) { // 1=true,0=false
|
||||
wrobot.dir = 5; // 跳跃
|
||||
}else{
|
||||
wrobot.dir = 4; // 停止
|
||||
}
|
||||
|
||||
// led蓝灯爆闪
|
||||
if (lastButtonAPressed && !convertedJ2Button) {
|
||||
blinkLED();
|
||||
}
|
||||
// 更新上次 lastButtonAPressed 的值
|
||||
lastButtonAPressed = convertedJ2Button;
|
||||
|
||||
if(abs(convertedJ1PotY) > deadZone) { // 上下高度 15 ~ 75
|
||||
wrobot.height = convertedJ1PotY;
|
||||
}else{
|
||||
wrobot.height = 0;
|
||||
}
|
||||
// Serial.print("convertedJ1PotY:");
|
||||
// Serial.print(convertedJ1PotY);
|
||||
// Serial.print(",wrobot.height:");
|
||||
// Serial.println(wrobot.height);
|
||||
|
||||
if(abs(convertedJ1PotX) > deadZone) { // 左右摇摆 -30 ~ 30
|
||||
wrobot.roll = convertedJ1PotX;
|
||||
}else{
|
||||
wrobot.roll = 0;
|
||||
}
|
||||
if(abs(convertedJ2PotY) > deadZone) { // 前后运动 -100 到 100
|
||||
wrobot.joyy = convertedJ2PotY;
|
||||
}else{
|
||||
wrobot.joyy = 0;
|
||||
}
|
||||
if(abs(convertedJ2PotX) > deadZone) { // 左右运动 -100 到 100
|
||||
wrobot.joyx = convertedJ2PotX;
|
||||
} else {
|
||||
wrobot.joyx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 测试舵机
|
||||
// const int freq = 50; // PWM 信号频率
|
||||
// const int resolution = 8; // PWM 分辨率
|
||||
// const int MS90SPIN = 4; // 舵机引脚 从正面看右边
|
||||
// const int ledChannel = 0; // 使用的 LEDC 通道
|
||||
|
||||
// void setupMS90S() {
|
||||
// pinMode(MS90SPIN, OUTPUT); // 设置 LED 引脚为输出
|
||||
// ledcSetup(ledChannel, freq, resolution); // 配置 LEDC 通道
|
||||
// ledcAttachPin(MS90SPIN, ledChannel); // 将引脚分配给通道
|
||||
// }
|
||||
// // 封装 loop 函数中的代码到新函数
|
||||
// void playMS90S() {
|
||||
// ledcWriteTone(ledChannel, 200); // 0
|
||||
// delay(1000); // 延迟 1 秒
|
||||
// ledcWriteTone(ledChannel, 350); // 90
|
||||
// delay(1000); // 延迟 1 秒
|
||||
// ledcWriteTone(ledChannel, 950); // 180
|
||||
// delay(1000); // 延迟 1 秒
|
||||
// }
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200); // 通讯串口
|
||||
Serial2.begin(1000000); // 腿部sts舵机
|
||||
|
||||
// setupMS90S(); // 测试舵机
|
||||
|
||||
// Wifi初始化
|
||||
WiFi_SetAP();
|
||||
webserver.begin();
|
||||
webserver.on("/", HTTP_GET, basicWebCallback);
|
||||
websocket.begin();
|
||||
websocket.onEvent(webSocketEventCallback);
|
||||
|
||||
// ESPNOW协议
|
||||
WiFi.mode(WIFI_MODE_STA); // 先设置为STA模式
|
||||
delay(100); // 短暂延迟
|
||||
// Serial.print("MAC Address: ");
|
||||
// Serial.println(WiFi.macAddress());
|
||||
|
||||
// 初始化ESP-NOW
|
||||
WiFi.mode(WIFI_STA);
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
esp_now_register_recv_cb(OnDataRecv);
|
||||
|
||||
// 舵机初始化
|
||||
// 舵机有效行程450
|
||||
// 左侧舵机[2048+12+50,2048+12+450]
|
||||
// 左侧舵机[2048-12-50,2048-12-450]
|
||||
sms_sts.pSerial = &Serial2;
|
||||
ID[0] = 1;
|
||||
ID[1] = 2;
|
||||
ACC[0] = 30;
|
||||
ACC[1] = 30;
|
||||
Speed[0] = 300;
|
||||
Speed[1] = 300;
|
||||
Position[0] = 2048;
|
||||
Position[1] = 2048;
|
||||
// 舵机(ID1/ID2)以最高速度V=2400步/秒,加速度A=50(50*100步/秒^2),运行至各自的Position位置
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
// 电压检测
|
||||
adc_calibration_init();
|
||||
adc1_config_width(width);
|
||||
adc1_config_channel_atten(channel, atten);
|
||||
esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
|
||||
|
||||
// 电量显示LED
|
||||
pinMode(LED_BAT, OUTPUT);
|
||||
|
||||
// 编码器设置
|
||||
I2Cone.begin(19, 18, 400000UL);
|
||||
I2Ctwo.begin(23, 5, 400000UL);
|
||||
sensor1.init(&I2Cone);
|
||||
sensor2.init(&I2Ctwo);
|
||||
|
||||
// mpu6050设置
|
||||
mpu6050.begin();
|
||||
mpu6050.calcGyroOffsets(true);
|
||||
|
||||
// 连接motor对象与编码器对象
|
||||
motor1.linkSensor(&sensor1);
|
||||
motor2.linkSensor(&sensor2);
|
||||
|
||||
// 速度环PID参数
|
||||
motor1.PID_velocity.P = 0.05;
|
||||
motor1.PID_velocity.I = 1;
|
||||
motor1.PID_velocity.D = 0;
|
||||
|
||||
motor2.PID_velocity.P = 0.05;
|
||||
motor2.PID_velocity.I = 1;
|
||||
motor2.PID_velocity.D = 0;
|
||||
|
||||
// 驱动器设置
|
||||
motor1.voltage_sensor_align = 6;
|
||||
motor2.voltage_sensor_align = 6;
|
||||
driver1.voltage_power_supply = 8;
|
||||
driver2.voltage_power_supply = 8;
|
||||
driver1.init();
|
||||
driver2.init();
|
||||
|
||||
// 连接motor对象与驱动器对象
|
||||
motor1.linkDriver(&driver1);
|
||||
motor2.linkDriver(&driver2);
|
||||
|
||||
motor1.torque_controller = TorqueControlType::voltage;
|
||||
motor2.torque_controller = TorqueControlType::voltage;
|
||||
motor1.controller = MotionControlType::torque;
|
||||
motor2.controller = MotionControlType::torque;
|
||||
|
||||
// monitor相关设置
|
||||
motor1.useMonitoring(Serial);
|
||||
motor2.useMonitoring(Serial);
|
||||
// 电机初始化
|
||||
motor1.init();
|
||||
motor1.initFOC();
|
||||
motor2.init();
|
||||
motor2.initFOC();
|
||||
|
||||
delay(500);
|
||||
}
|
||||
|
||||
// 用于判断跌倒方向
|
||||
// enum FallDirection {
|
||||
// NOT_FALLEN,
|
||||
// FORWARD_FALL,
|
||||
// BACKWARD_FALL
|
||||
// };
|
||||
|
||||
// FallDirection fall_direction = NOT_FALLEN;
|
||||
|
||||
void loop()
|
||||
{
|
||||
// playMS90S(); // 测试舵机
|
||||
|
||||
bat_check(); // 电压检测
|
||||
web_loop(); // Web数据更新
|
||||
mpu6050.update(); // IMU数据更新
|
||||
lqr_balance_loop(); // lqr自平衡控制,更新LQR_u
|
||||
yaw_loop(); // yaw轴转向控制,更新YAW_output
|
||||
leg_loop(); // 腿部动作控制,控制舵机SyncWritePosEx,包括判断jump_loop
|
||||
|
||||
// 记录上一次的遥控数据数据
|
||||
wrobot.dir_last = wrobot.dir;
|
||||
wrobot.joyx_last = wrobot.joyx;
|
||||
wrobot.joyy_last = wrobot.joyy;
|
||||
|
||||
// 将自平衡计算输出转矩赋给电机
|
||||
motor1.target = (-0.5) * (LQR_u + YAW_output);
|
||||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||||
|
||||
// 倒地失控后关闭输出
|
||||
if (abs(LQR_angle) > 25.0f) // 角度大于25度,说明小车倒下了
|
||||
{
|
||||
uncontrolable = 1; // 倾斜角度大于25度,标记倒地
|
||||
|
||||
// if (LQR_angle > 25.0f) {
|
||||
// fall_direction = FORWARD_FALL;
|
||||
// } else if (LQR_angle < -25.0f) {
|
||||
// fall_direction = BACKWARD_FALL;
|
||||
// }
|
||||
|
||||
}
|
||||
if (uncontrolable != 0) // 倒地,延时200次程序循环,避免失控后继续输出
|
||||
{
|
||||
if (abs(LQR_angle) < 10.0f) // 角度小于10度,说明小车被扶起了
|
||||
{
|
||||
uncontrolable ++; // 倒地后,并被扶起,开始计数
|
||||
}
|
||||
if (uncontrolable > 150) // 倒地被扶起,计数超过150,说明平衡了,标记未倒地
|
||||
{
|
||||
uncontrolable = 0; // 标记未倒地
|
||||
// fall_direction = NOT_FALLEN;
|
||||
}
|
||||
// 还有一种可能,如果倒地,没有被扶起(角度大于10度),uncontrolable 一直等于1
|
||||
// --------未被扶起,向后倒地时的自动爬起逻辑
|
||||
// if (fall_direction == BACKWARD_FALL) {
|
||||
// // 轮子突然加速向后
|
||||
// motor1.target = 25.0; // 可根据实际情况调整
|
||||
// motor2.target = 25.0; // 可根据实际情况调整
|
||||
// } else {
|
||||
// 非向后倒地恢复状态,则关停电机输出
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
leg_position_add = 0;
|
||||
// }
|
||||
// --------未被扶起end
|
||||
}
|
||||
|
||||
// uncontrolable == 0 时,才能执行,否则target=0,电机没有输出
|
||||
|
||||
// 迭代计算FOC相电压
|
||||
motor1.loopFOC();
|
||||
motor2.loopFOC();
|
||||
|
||||
// 设置轮部电机输出
|
||||
motor1.move();
|
||||
motor2.move();
|
||||
|
||||
} // ----------------- void loop()
|
||||
|
||||
// lqr自平衡控制
|
||||
void lqr_balance_loop()
|
||||
{
|
||||
// LQR_distance,LQR_speed,LQR_angle,LQR_gyro 通过编码器或者mpu实际测得
|
||||
// angle_zeropoint,distance_zeropoint 角度零点和位置零点(在理想平衡状态下俯仰角度和位移目标值),用于和实际值做差,得到控制
|
||||
// angle_control , gyro_control , distance_control , speed_control : lqr 控制参数
|
||||
|
||||
// LQR平衡算式,实际使用中为便于调参,讲算式分解为4个P控制,采用PIDController方法在commander中实时调试
|
||||
// QR_u = LQR_k1*(LQR_angle - angle_zeropoint)
|
||||
// + LQR_k2*LQR_gyro
|
||||
// + LQR_k3*(LQR_distance - distance_zeropoint)
|
||||
// + LQR_k4*LQR_speed;
|
||||
|
||||
// 给负值是因为按照当前的电机接线,正转矩会向后转
|
||||
// 编码器反馈shaft_angle,计算电机转轴角度平均数
|
||||
LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle);
|
||||
// 编码器反馈实时角速度,计算电机转速平均数
|
||||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity);
|
||||
LQR_angle = (float)mpu6050.getAngleY(); // pitch 角度,向前倒正数,向后倒负数
|
||||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch 角速度
|
||||
// Serial.println(LQR_distance);
|
||||
|
||||
// 计算pitch的角度和角速度的pid控制值
|
||||
// 实际pitch角度与零点的差值,目标值是零
|
||||
// 计算角度误差,并通过 PID 控制器得到角度控制量
|
||||
angle_control = pid_angle(LQR_angle - angle_zeropoint);
|
||||
// 实际pitch 角速度与目标值的差值,目标值是零
|
||||
// 通过 PID 控制器对角速度进行处理,得到角速度控制量
|
||||
gyro_control = pid_gyro(LQR_gyro);
|
||||
|
||||
// 运动细节优化处理
|
||||
if (wrobot.joyy != 0) // 有前后方向运动指令时的处理
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
|
||||
if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0)) // 运动指令复零时的原地停车处理
|
||||
{
|
||||
wrobot_move_stop_flag = 1;
|
||||
}
|
||||
if ((wrobot_move_stop_flag == 1) && (abs(LQR_speed) < 0.5))
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
wrobot_move_stop_flag = 0;
|
||||
}
|
||||
|
||||
if (abs(LQR_speed) > 15) // 被快速推动时的原地停车处理
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
}
|
||||
|
||||
// 计算pitch的角度和角速度的pid控制值
|
||||
// 电机转轴角度平均数(上面计算)-位移零点=实际位移与零点的差值, 目标值是零
|
||||
// 计算位移误差,并通过位移 PID 控制器得到位移控制量
|
||||
distance_control = pid_distance(LQR_distance - distance_zeropoint);
|
||||
// 电机转速平均数(上面计算)-速度目标值=实际转速与目标值的差值, 目标值是零
|
||||
// 计算速度误差(实际速度减去经过低通滤波和缩放后的遥控器期望速度),并通过速度 PID 控制器得到速度控制量
|
||||
speed_control = pid_speed(LQR_speed - 0.1 * lpf_joyy(wrobot.joyy));
|
||||
|
||||
// 轮部离地检测
|
||||
robot_speed_last = robot_speed; // 记录连续两次的轮部转速
|
||||
robot_speed = LQR_speed;
|
||||
// 若轮部角速度、角加速度过大或处于跳跃后的恢复时期,认为出现轮部离地现象,需要特殊处理
|
||||
// 轮部离地情况下,对轮部分量不输出;反之,正常状态下完整输出平衡转矩
|
||||
if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag != 0))
|
||||
{
|
||||
distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
LQR_u = angle_control + gyro_control; // 轮部离地情况下,对轮部分量不输出;反之,正常状态下完整输出平衡转矩
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
else
|
||||
{
|
||||
// 当轮部未离地时,LQR_u 包含:角度控制量、角速度控制量、位移控制量和速度控制量,以实现完整的自平衡控制
|
||||
LQR_u = angle_control + gyro_control + distance_control + speed_control;
|
||||
// 计算得到LQR_u在loop()函数中在几个子loop执行完,被motor1执行
|
||||
|
||||
}
|
||||
|
||||
// 触发条件:遥控器无信号输入、轮部位移控制正常介入、不处于跳跃后的恢复时期
|
||||
if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0))
|
||||
{
|
||||
|
||||
LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
|
||||
// Serial.println(LQR_u);
|
||||
|
||||
// lpf_zeropoint 是一个低通滤波器,对 distance_control 进行滤波处理,减少高频噪声的影响。
|
||||
// 然后,将滤波后的 distance_control 作为输入,通过 pid_zeropoint 控制器进行进一步处理。
|
||||
// angle_zeropoint -= ...:将计算得到的调整量从 angle_zeropoint 中减去,实现重心自适应调整。
|
||||
// angle_zeropoint 是预设的角度零点,调整它可以让小车更好地适应不同的重心位置。
|
||||
angle_zeropoint -= pid_zeropoint(lpf_zeropoint(distance_control)); // 重心自适应
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
|
||||
// 平衡控制参数自适应
|
||||
if (wrobot.height < 50)
|
||||
{
|
||||
pid_speed.P = 0.7;
|
||||
}
|
||||
else if (wrobot.height < 64)
|
||||
{
|
||||
pid_speed.P = 0.6;
|
||||
}
|
||||
else
|
||||
{
|
||||
pid_speed.P = 0.5;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 腿部动作控制(舵机)
|
||||
void leg_loop()
|
||||
{
|
||||
jump_loop();
|
||||
if (jump_flag == 0) // 不处于跳跃状态
|
||||
{
|
||||
// 舵机加速度
|
||||
ACC[0] = 8;
|
||||
ACC[1] = 8;
|
||||
|
||||
// 舵机速度
|
||||
// Speed[0] = 200;
|
||||
// Speed[1] = 200;
|
||||
Speed[0] = 300;
|
||||
Speed[1] = 300;
|
||||
float roll_angle = (float)mpu6050.getAngleX() + 2.0;
|
||||
leg_position_add = pid_roll_angle(lpf_roll(roll_angle)); // test
|
||||
|
||||
int roll_offset = wrobot.roll;
|
||||
int left_height, right_height;
|
||||
|
||||
// 转弯倾斜效果
|
||||
// if (wrobot.joyx > 10) { // 向右转弯
|
||||
// left_height = wrobot.height + wrobot.joyx * 0.1; // 左腿抬高
|
||||
// right_height = wrobot.height;
|
||||
|
||||
// } else if (wrobot.joyx < -10) { // 向左转弯
|
||||
// left_height = wrobot.height;
|
||||
// right_height = wrobot.height - wrobot.joyx * 0.1; // 右腿抬高
|
||||
|
||||
// } else { // 正常情况
|
||||
|
||||
// Serial.print("roll_offset: ");
|
||||
// Serial.println(roll_offset);
|
||||
|
||||
// 如果控制了 roll 角度,则调整左右脚的高度
|
||||
// 计算三角函数值
|
||||
float angleRad = abs(roll_offset) * (pi / 180.0); // 将角度转换为弧度
|
||||
float heightAdjust = 30 * sin(angleRad); // 小车宽度的一半是30毫米,抬高的高度是30毫米*sin(弧度)
|
||||
float RollOffset = 18; // 所以水平高度需要加上调整高度,否则向下倾斜无法向下了
|
||||
if (roll_offset > 10) {
|
||||
// 正数,左脚高度 60,右脚高度 40
|
||||
// 因为车身高度最小32,所以水平高度需要加上调整高度15,否则线下倾斜无法向下了
|
||||
left_height = wrobot.height + RollOffset + heightAdjust;
|
||||
right_height = wrobot.height + RollOffset - heightAdjust;
|
||||
leg_position_add = 0;
|
||||
} else if (roll_offset < -10) {
|
||||
// 负数,左脚高度 40,右脚高度 60
|
||||
left_height = wrobot.height + RollOffset - heightAdjust;
|
||||
right_height = wrobot.height + RollOffset + heightAdjust;
|
||||
leg_position_add = 0;
|
||||
} else { // 未控制 roll 角度
|
||||
// roll 为 0,左右恢复到同一高度
|
||||
left_height = wrobot.height;
|
||||
right_height = wrobot.height;
|
||||
}
|
||||
// }
|
||||
|
||||
// 根据新的高度计算舵机位置
|
||||
// id 1 [0] 正面看右手,id 2 正面看左手 [1]
|
||||
// 舵机id 1:1900(机身最矮) 2400(机身最高)
|
||||
// 舵机id 2:2300(机身最矮) 1800(机身最高)
|
||||
// 2048是舵机中间位置,12是微调偏移量,8.4是系数,32是默认高度,最高80,最低32
|
||||
Position[0] = 2048 + 12 + 8.4 * (left_height - 32) - leg_position_add;
|
||||
Position[1] = 2048 - 12 - 8.4 * (right_height - 32) - leg_position_add;
|
||||
// Position[0] = 2048 + 12 + 8.4 * (left_height - 52) - leg_position_add; // -52 机身下降20
|
||||
// Position[1] = 2048 - 12 - 8.4 * (right_height - 52) - leg_position_add;
|
||||
// Position[0] = 2048 + 12 + 8.4 * (left_height - 0) - leg_position_add; // 不减32 机身高度默认抬高32
|
||||
// Position[1] = 2048 - 12 - 8.4 * (right_height - 0) - leg_position_add;
|
||||
|
||||
// Serial.print("left_height: ");
|
||||
// Serial.print(left_height);
|
||||
// Serial.print(", right_height: ");
|
||||
// Serial.print(right_height);
|
||||
// Serial.print(", leg_position_add: ");
|
||||
// Serial.println(leg_position_add);
|
||||
|
||||
|
||||
// 限制舵机位置范围
|
||||
if (Position[0] < 1900) // 舵机1最低
|
||||
Position[0] = 1900;
|
||||
else if (Position[0] > 2400) // 舵机1最高
|
||||
Position[0] = 2400;
|
||||
|
||||
if (Position[1] < 1800) // 舵机2最高
|
||||
Position[1] = 1800;
|
||||
else if (Position[1] > 2300) // 舵机2最底(和舵机1方向是反的)
|
||||
Position[1] = 2300;
|
||||
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
}
|
||||
|
||||
// 跳跃控制
|
||||
void jump_loop()
|
||||
{ // 5=JUMP,4=STOP 上次动作是跳跃5,本次是停止0,才开始跳,因为可能连续发送了很多5跳跃指令,只执行最后一次
|
||||
if ((wrobot.dir_last == 5) && (wrobot.dir == 4) && (jump_flag == 0))
|
||||
{ // 跳跃开始
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = 2048 + 12 + 8.4 * (60 - 32); // 值越大,腿伸的越长,原来80 改为60降低腿部高度,即车重心
|
||||
Position[1] = 2048 - 12 - 8.4 * (60 - 32);
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
jump_flag = 1;
|
||||
}
|
||||
if (jump_flag > 0) // 跳跃中,等待30帧,对应上面设置 jump_flag = 1;
|
||||
{
|
||||
jump_flag++;
|
||||
if ((jump_flag > 30) && (jump_flag < 35))
|
||||
{
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = 2048 + 12 + 8.4 * (35 - 32); // 降低腿部高度,即车重心
|
||||
Position[1] = 2048 - 12 - 8.4 * (35 - 32);
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
jump_flag = 40;
|
||||
}
|
||||
if (jump_flag > 200)
|
||||
{
|
||||
jump_flag = 0; // 跳跃过程结束
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// yaw轴转向控制 (转向控制)
|
||||
void yaw_loop()
|
||||
{
|
||||
// YAW_output = 0.03*(YAW_Kp*YAW_angle_total + YAW_Kd*YAW_gyro);
|
||||
yaw_angle_addup();
|
||||
|
||||
YAW_angle_total += wrobot.joyx * 0.008; // 0.002
|
||||
float yaw_angle_control = pid_yaw_angle(YAW_angle_total);
|
||||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
|
||||
// yaw 轴的角度和角速度数据进行了 PID 控制,得到 yaw_angle_control 和 yaw_gyro_control。
|
||||
// 然后,将这两个控制量相加,得到最终的 YAW_output。
|
||||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||||
}
|
||||
|
||||
// Web数据更新
|
||||
void web_loop()
|
||||
{
|
||||
webserver.handleClient();
|
||||
websocket.loop();
|
||||
rp.spinOnce(); // 更新web端回传的控制信息
|
||||
}
|
||||
|
||||
// yaw轴角度累加函数
|
||||
void yaw_angle_addup()
|
||||
{
|
||||
YAW_angle = (float)mpu6050.getAngleZ();
|
||||
YAW_gyro = (float)mpu6050.getGyroZ();
|
||||
|
||||
if (YAW_angle_zero_point == (-10))
|
||||
{
|
||||
YAW_angle_zero_point = YAW_angle;
|
||||
}
|
||||
|
||||
float yaw_angle_1, yaw_angle_2, yaw_addup_angle;
|
||||
if (YAW_angle > YAW_angle_last)
|
||||
{
|
||||
yaw_angle_1 = YAW_angle - YAW_angle_last;
|
||||
yaw_angle_2 = YAW_angle - YAW_angle_last - 2 * PI;
|
||||
}
|
||||
else
|
||||
{
|
||||
yaw_angle_1 = YAW_angle - YAW_angle_last;
|
||||
yaw_angle_2 = YAW_angle - YAW_angle_last + 2 * PI;
|
||||
}
|
||||
|
||||
if (abs(yaw_angle_1) > abs(yaw_angle_2))
|
||||
{
|
||||
yaw_addup_angle = yaw_angle_2;
|
||||
}
|
||||
else
|
||||
{
|
||||
yaw_addup_angle = yaw_angle_1;
|
||||
}
|
||||
|
||||
YAW_angle_total = YAW_angle_total + yaw_addup_angle;
|
||||
YAW_angle_last = YAW_angle;
|
||||
}
|
||||
|
||||
void basicWebCallback(void)
|
||||
{
|
||||
webserver.send(300, "text/html", basic_web);
|
||||
}
|
||||
|
||||
void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
|
||||
{
|
||||
if (type == WStype_TEXT)
|
||||
{
|
||||
String payload_str = String((char *)payload);
|
||||
StaticJsonDocument<300> doc;
|
||||
DeserializationError error = deserializeJson(doc, payload_str);
|
||||
|
||||
String mode_str = doc["mode"];
|
||||
if (mode_str == "basic")
|
||||
{
|
||||
rp.parseBasic(doc);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 电压检测初始化
|
||||
void adc_calibration_init()
|
||||
{
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_TP) == ESP_OK)
|
||||
{
|
||||
printf("eFuse Two Point: Supported\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("eFuse Two Point: NOT supported\n");
|
||||
}
|
||||
// Check Vref is burned into eFuse
|
||||
if (esp_adc_cal_check_efuse(ESP_ADC_CAL_VAL_EFUSE_VREF) == ESP_OK)
|
||||
{
|
||||
printf("eFuse Vref: Supported\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("eFuse Vref: NOT supported\n");
|
||||
}
|
||||
}
|
||||
|
||||
// 电压检测
|
||||
void bat_check()
|
||||
{
|
||||
if (bat_check_num > 1000)
|
||||
{
|
||||
// 电压读取
|
||||
uint32_t sum = 0;
|
||||
sum = analogRead(BAT_PIN);
|
||||
uint32_t voltage = esp_adc_cal_raw_to_voltage(sum, &adc_chars);
|
||||
double battery = (voltage * 3.97) / 1000.0;
|
||||
|
||||
// Serial.println(battery);
|
||||
// 电量显示
|
||||
if (battery > 7.8)
|
||||
digitalWrite(LED_BAT, HIGH);
|
||||
else
|
||||
digitalWrite(LED_BAT, LOW);
|
||||
|
||||
bat_check_num = 0;
|
||||
}
|
||||
else
|
||||
bat_check_num++;
|
||||
}
|
||||
|
||||
// 封装LED闪烁函数
|
||||
void blinkLED() {
|
||||
const int flashInterval = 200; // 闪烁间隔时间,单位毫秒
|
||||
const int flashTimes = 2; // 闪烁次数
|
||||
for (int i = 0; i < flashTimes; ++i) {
|
||||
digitalWrite(LED_BAT, LOW); // 熄灭LED
|
||||
delay(flashInterval);
|
||||
digitalWrite(LED_BAT, HIGH); // 点亮LED
|
||||
delay(flashInterval);
|
||||
}
|
||||
}
|
||||
Reference in new issue
Block a user