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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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// 飞特STS3032舵机同步控制指令
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#include "Servo_STS3032.h"
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#include <stddef.h>
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// 飞特串行舵机通信层协议程序
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SCS::SCS()
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{
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Level = 1; // 除广播指令所有指令返回应答
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Error = 0;
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}
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SCS::SCS(u8 End)
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{
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Level = 1;
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this->End = End;
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Error = 0;
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}
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SCS::SCS(u8 End, u8 Level)
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{
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this->Level = Level;
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this->End = End;
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Error = 0;
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}
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// 1个16位数拆分为2个8位数
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// DataL为低位，DataH为高位
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void SCS::Host2SCS(u8 *DataL, u8 *DataH, u16 Data)
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{
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if (End)
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{
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*DataL = (Data >> 8);
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*DataH = (Data & 0xff);
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}
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else
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{
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*DataH = (Data >> 8);
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*DataL = (Data & 0xff);
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}
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}
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// 同步写指令
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// 舵机ID[]数组，IDN数组长度，MemAddr内存表地址，写入数据，写入长度
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void SCS::syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen)
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{
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rFlushSCS();
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u8 mesLen = ((nLen + 1) * IDN + 4);
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u8 Sum = 0;
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u8 bBuf[7];
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bBuf[0] = 0xff;
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bBuf[1] = 0xff;
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bBuf[2] = 0xfe;
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bBuf[3] = mesLen;
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bBuf[4] = INST_SYNC_WRITE;
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bBuf[5] = MemAddr;
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bBuf[6] = nLen;
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writeSCS(bBuf, 7);
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Sum = 0xfe + mesLen + INST_SYNC_WRITE + MemAddr + nLen;
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u8 i, j;
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for (i = 0; i < IDN; i++)
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{
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writeSCS(ID[i]);
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writeSCS(nDat + i * nLen, nLen);
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Sum += ID[i];
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for (j = 0; j < nLen; j++)
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{
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Sum += nDat[i * nLen + j];
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}
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}
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writeSCS(~Sum);
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wFlushSCS();
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}
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// 飞特串行舵机硬件接口层程序
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SCSerial::SCSerial()
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{
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IOTimeOut = 10;
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pSerial = NULL;
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}
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SCSerial::SCSerial(u8 End) : SCS(End)
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{
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IOTimeOut = 10;
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pSerial = NULL;
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}
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SCSerial::SCSerial(u8 End, u8 Level) : SCS(End, Level)
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{
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IOTimeOut = 10;
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pSerial = NULL;
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}
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int SCSerial::writeSCS(unsigned char *nDat, int nLen)
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{
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if (nDat == NULL)
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{
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return 0;
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}
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return pSerial->write(nDat, nLen);
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}
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int SCSerial::writeSCS(unsigned char bDat)
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{
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return pSerial->write(&bDat, 1);
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}
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void SCSerial::rFlushSCS()
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{
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while (pSerial->read() != -1)
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;
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}
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void SCSerial::wFlushSCS()
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{
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}
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// 飞特SMS_STS系列串行舵机应用层程序
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void SMS_STS::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[])
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{
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u8 offbuf[7 * IDN];
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for (u8 i = 0; i < IDN; i++)
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{
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if (Position[i] < 0)
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{
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Position[i] = -Position[i];
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Position[i] |= (1 << 15);
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}
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u16 V;
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if (Speed)
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{
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V = Speed[i];
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}
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else
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{
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V = 0;
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}
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if (ACC)
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{
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offbuf[i * 7] = ACC[i];
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}
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else
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{
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offbuf[i * 7] = 0;
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}
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Host2SCS(offbuf + i * 7 + 1, offbuf + i * 7 + 2, Position[i]);
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Host2SCS(offbuf + i * 7 + 3, offbuf + i * 7 + 4, 0);
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Host2SCS(offbuf + i * 7 + 5, offbuf + i * 7 + 6, V);
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}
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syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
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}
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@@ -0,0 +1,960 @@
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/* -----------------------------------------------------------------------------
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Copyright (c) 2024 Mu Shibo
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Modify by Tommy 2025.8.11
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2025-08-16 优化了原世博开源轮足平衡逻辑，代码增加了较多备注。
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2025-08-11 增加开机自平衡站立，简化控制，通过 esp32 遥控器直接控制，无需配网。
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2025-08-16 对几种运动中倒地的极限状态进行优化，实现自平衡起身。
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2025-09-14 增加坐下和起立功能。
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2025-09-16 修复舵机发热问题。
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2025-09-19 实现向前跳跃，运动中跳跃，落地平衡功能。
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2025-09-29 将舵机标定2048位置统一为大腿与小腿碰到一起的位置
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世博开源轮足优化版-TOMMY版本项目地址： https://gitee.com/myperworld/wrobot
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----------------------------------------------------------------------------- */
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#include <esp_now.h>
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#include <WiFi.h>
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#include "esp_wifi.h"
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#include "main.h"
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/************实例定义*************/
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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
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PIDController pid_speed(0.7, 0, 0, 100000, 8);// 速度PID使其趋于目标速度
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PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
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PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
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PIDController pid_lqr_u(1, 15, 0, 100000, 8);
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PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
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PIDController pid_roll_angle(8, 0, 0, 100000, 450);
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// 低通滤波器实例
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LowPassFilter lpf_joyy(0.2);
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LowPassFilter lpf_zeropoint(0.1);
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LowPassFilter lpf_roll(0.3);
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// WebServer实例
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WebServer webserver; // server服务器
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WebSocketsServer websocket = WebSocketsServer(81); // 定义一个webSocket服务器来处理客户发送的消息
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RobotProtocol rp(20);
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// STS舵机实例
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SMS_STS sms_sts;
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// MPU6050实例
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MPU6050 mpu6050(I2Ctwo);
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/************参数定义*************/
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#define pi 3.1415927
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// 舵机位置限制参数
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#define SERVO_DEAD_ZONE 5 // 设置死区阈值 最小更新间隔(ms)
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#define LEG_HEIGHT_BASE 20 // 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低）
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#define SERVO1_MIN 2048 // 舵机1最低位置，大腿与小腿碰到一起，从小车正面看右手边舵机
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#define SERVO2_MIN 2048 // 舵机2最低位置，大腿与小腿碰到一起， 从小车正面看左手
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#define SERVO1_MAX (2048 + 12 + 8.4 * (35 + 10)) // 舵机1最高
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#define SERVO2_MAX (2048 - 12 - 8.4 * (35 + 10)) // 舵机2最高
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int lastPosition0 = SERVO1_MIN;
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int lastPosition1 = SERVO2_MIN;
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// LQR自平衡控制器参数
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float LQR_angle = 0;
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float LQR_gyro = 0;
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float LQR_gyroZ = 0;
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float LQR_speed = 0;
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float LQR_distance = 0;
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float angle_control = 0;
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float gyro_control = 0;
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float speed_control = 0;
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float distance_control = 0;
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float LQR_u = 0;
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float angle_zeropoint = 8; // 5 设定默认俯仰角度，向前到正，向后倒负
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float original_angle_zeropoint = 8; // 保存原始的角度零点
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float distance_zeropoint = 0.5f; // 轮部位移零点偏置
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// YAW轴控制数据
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float YAW_gyro = 0;
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float YAW_angle = 0;
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float YAW_angle_last = 0;
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float YAW_angle_total = 0;
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float YAW_angle_zero_point = -10;
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float YAW_output = 0;
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// 腿部舵机控制数据
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byte ID[2];
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s16 Position[2];
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u16 Speed[2];
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byte ACC[2];
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// 逻辑处理标志位
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float robot_speed = 0; // 记录当前轮部转速
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float robot_speed_last = 0; // 记录上一时刻的轮部转速
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int wrobot_move_stop_flag = 0; // 记录摇杆停止的标识
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int jump_flag = 0; // 跳跃时段标识
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float leg_position_add = 0; // roll轴平衡控制量
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// 电压检测
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uint16_t bat_check_num = 0;
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int BAT_PIN = 35; // select the input pin for the ADC
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static esp_adc_cal_characteristics_t adc_chars;
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static const adc1_channel_t channel = ADC1_CHANNEL_7;
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static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
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static const adc_atten_t atten = ADC_ATTEN_DB_12;
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static const adc_unit_t unit = ADC_UNIT_1;
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int loopCounter = 0; // loop函数执行计数
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int resetToDefaultCounter = 0; // resetToDefault执行计数
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// 电量显示LED
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#define LED_BAT 13
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// 定义摇杆数值死区参数
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const int deadZone = 15;
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// 小车状态控制
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bool robot_enabled = true; // 小车使能状态，true为起立状态，false为坐下状态
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bool last_robot_enabled = true; // 记录上一次的小车状态
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bool sitting_down = false; // 标记是否正在执行坐下动作
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// 向前跳跃控制变量
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int forward_jump_flag = 0; // 向前跳跃状态标志
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typedef struct {
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byte j1PotX; // 左摇杆X (0-255)
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byte j1PotY; // 左摇杆Y (0-255)
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byte j2PotX; // 右摇杆X (0-255)
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byte j2PotY; // 右摇杆Y (0-255)
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bool buttonR1; //底部右按键 1：true （默认），0：false
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bool buttonR2; //底部左按键 1：true （默认），0：false
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bool j1Button; //左摇杆按键 1：true （默认），0：false
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bool j2Button; //右摇杆按键 1：true （默认），0：false
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bool buttonLB; //顶部左按键 1：true （默认），0：false
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bool buttonRB; //顶部右按键 1：true （默认），0：false
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bool tSwitch1; //拨动开关 1：true （默认），0：false
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byte roll; // 默认 127
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byte pitch; // 默认 127
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bool buttonR3; // 默认 1
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} JoystickData;
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JoystickData remoteData;
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// 蓝灯爆闪
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bool lastbuttonLB = false;
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// ESP-NOW接收回调函数
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void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
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memcpy(&remoteData, incomingData, sizeof(remoteData));
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// 取反按钮值，使得默认显示 0 false，按下显示 1 true
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int convertedbuttonLB = !remoteData.buttonLB; // 顶部左
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int convertedbuttonRB = !remoteData.buttonRB; // 顶部右
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int convertedbuttonR1 = !remoteData.buttonR1; // 底部右按键（取反：默认0，按下1）
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int convertedbuttonR2 = !remoteData.buttonR2; // 底部左按键（取反：默认0，按下1）
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// 处理坐下/起立指令
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if (convertedbuttonR2 && robot_enabled) { // 底部左按键按下，坐下
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robot_enabled = false;
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sitting_down = true; // 标记开始坐下动作保存当前的角度零点
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}
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if (convertedbuttonR1 && !robot_enabled) { // 底部右按键按下，起立
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robot_enabled = true;
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sitting_down = false; // 清除坐下动作标记
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resetToDefault(); // 重置参数准备起立
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}
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// 如果小车处于坐下状态或正在执行坐下动作，不处理其他指令
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if (!robot_enabled || sitting_down) {
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wrobot.dir = 4; // 强制设为"不跳跃"
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wrobot.joyx = 0; // 清空左右转向指令
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wrobot.joyy = 0; // 清空前后移动指令
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wrobot.roll = 0; // 清空左右摇摆指令
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wrobot.height = 0; // 清空高度指令
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return;
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}
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// 跳跃状态不接受指令
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if( jump_flag > 0){
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wrobot.dir = 4; // 强制设为“不跳跃”
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wrobot.joyx = 0; // 清空左右转向指令
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wrobot.joyy = 0; // 清空前后移动指令
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wrobot.roll = 0; // 清空左右摇摆指令
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return;
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}
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// 摇杆输出范围0-255，转换到 -100 到 100
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// roll 左右摇摆
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int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30
|
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// 上下高度
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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
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// 左右旋转
|
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int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100
|
||||
// 前后速度
|
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int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.4; // 转到 -100 到 100 y轴取反,并且放大洗漱
|
||||
|
||||
|
||||
// 跳跃
|
||||
if (convertedbuttonRB) { // 1=true，0=false
|
||||
wrobot.dir = 5; // 跳跃
|
||||
}else{
|
||||
wrobot.dir = 4; // 不跳跃
|
||||
}
|
||||
|
||||
// 向前跳跃
|
||||
if (lastbuttonLB && !convertedbuttonLB && robot_enabled) {
|
||||
forward_jump_flag = 1;
|
||||
}
|
||||
// 更新上次 lastbuttonRB 的值
|
||||
lastbuttonLB = convertedbuttonLB;
|
||||
|
||||
if(abs(convertedJ1PotY) > deadZone) { // 上下高度 15 ~ 75
|
||||
wrobot.height = convertedJ1PotY;
|
||||
}else{
|
||||
wrobot.height = 0;
|
||||
}
|
||||
|
||||
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
|
||||
|
||||
// 模式1：适配遥控器模式，设置WiFi通道为6
|
||||
// WiFi.mode(WIFI_STA); // 设置为STA模式
|
||||
// esp_wifi_set_channel(6, WIFI_SECOND_CHAN_NONE); // 设置WiFi通道为6，为了适配遥控器模式
|
||||
|
||||
// 模式2：适配小车wifi热点模式
|
||||
WiFi_SetAP(); // 打开这行注释就能开启热点模式
|
||||
|
||||
webserver.begin();
|
||||
webserver.on("/", HTTP_GET, basicWebCallback);
|
||||
websocket.begin();
|
||||
websocket.onEvent(webSocketEventCallback);
|
||||
|
||||
// 初始化ESP-NOW
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
}
|
||||
esp_now_register_recv_cb(OnDataRecv);
|
||||
|
||||
// Serial.print("WIFI channel:");
|
||||
// Serial.println(WiFi.channel());
|
||||
|
||||
// 舵机初始化
|
||||
sms_sts.pSerial = &Serial2;
|
||||
ID[0] = 1;
|
||||
ID[1] = 2;
|
||||
ACC[0] = 30;
|
||||
ACC[1] = 30;
|
||||
Speed[0] = 400;
|
||||
Speed[1] = 400;
|
||||
Position[0] = SERVO1_MIN;
|
||||
Position[1] = SERVO2_MIN;
|
||||
// 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; // 扭矩控制器类型为 "电压模式"
|
||||
motor2.torque_controller = TorqueControlType::voltage;
|
||||
motor1.controller = MotionControlType::torque; // 运动控制器类型为 "扭矩模式"
|
||||
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();
|
||||
|
||||
resetToDefault(); // 重置到默认参数状态
|
||||
|
||||
delay(500);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
// 检测小车状态变化 坐 -> 站
|
||||
if (robot_enabled && !last_robot_enabled) {
|
||||
// 从坐下状态变为起立状态，重置参数
|
||||
resetToDefault();
|
||||
}
|
||||
last_robot_enabled = robot_enabled;
|
||||
|
||||
// 如果小车处于坐下状态，只执行必要的功能
|
||||
if (!robot_enabled) {
|
||||
bat_check(); // 电压检测
|
||||
web_loop(); // Web数据更新
|
||||
mpu6050.update(); // IMU数据更新
|
||||
|
||||
// 如果正在执行坐下动作，逐步调整角度零点让小车向后倒
|
||||
if (sitting_down) {
|
||||
// 缓慢调整角度零点，使小车向后倒
|
||||
static int sit_counter = 0;
|
||||
sit_counter++;
|
||||
|
||||
// 先给个向后退脉冲
|
||||
if (sit_counter < 30) {
|
||||
// 阶段1：设置电机目标为负数，使小车向后运动
|
||||
motor1.target = -1.0; // 负数小车向后，正数向前
|
||||
motor2.target = -1.0;
|
||||
} else {
|
||||
// 阶段2：停止电机，让小车自然向后倒
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
}
|
||||
motor1.loopFOC();
|
||||
motor2.loopFOC();
|
||||
motor1.move();
|
||||
motor2.move();
|
||||
|
||||
// 当sit_counter为0时，设置舵机到最低位置
|
||||
if (sit_counter == 0) {
|
||||
Position[0] = SERVO1_MIN;
|
||||
Position[1] = SERVO2_MIN;
|
||||
ACC[0] = 5;
|
||||
ACC[1] = 5;
|
||||
Speed[0] = 100;
|
||||
Speed[1] = 100;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
|
||||
if (sit_counter < 100) { // 分100步完成坐下动作
|
||||
// 逐步将平衡零点变成负数，小车抬头（向后倒）
|
||||
angle_zeropoint -- ;
|
||||
} else {
|
||||
// 坐下动作完成，设置到最低位置和最终角度零点
|
||||
sit_counter = 0;
|
||||
sitting_down = false;
|
||||
angle_zeropoint = -20; // 最终的角度零点，确保小车向后倒
|
||||
}
|
||||
} else {
|
||||
// 已经坐下，保持最低位置和向后倒的角度零点
|
||||
angle_zeropoint = -15; // 保持向后倒的角度零点
|
||||
}
|
||||
|
||||
return; // 跳过其他控制
|
||||
}
|
||||
|
||||
bat_check(); // 电压检测 <1ms
|
||||
web_loop(); // Web数据更新 <2ms
|
||||
mpu6050.update(); // IMU数据更新 <1ms
|
||||
lqr_balance_loop(); // lqr自平衡控制，更新LQR_u ★ 关键实时控制 2-3ms
|
||||
yaw_loop(); // yaw轴转向控制，更新YAW_output ★ 关键实时控制 1-2ms
|
||||
leg_loop(); // 腿部动作控制，控制舵机SyncWritePosEx，包括判断jump_loop 舵机控制 1ms
|
||||
|
||||
// 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
|
||||
motor.target 负数小车向前转，正数小车向后转，
|
||||
LQR_u 越大，电机输出的转矩越大，电机向后转，默认0-8V
|
||||
LQR_u = angle_control + gyro_control + distance_control + speed_control
|
||||
|
||||
angle_control = pid_angle(LQR_angle - angle_zeropoint) //LQR_u与实际LQR_angle正相关
|
||||
= pid_angle( mpu6050.getAngleY() - angle_zeropoint) //LQR_u与实际pitch正相关
|
||||
gyro_control = pid_gyro(LQR_gyro) //LQR_u与实际LQR_gyro正相关
|
||||
= pid_gyro( mpu6050.getGyroY() ) //LQR_u与实际pitch 角速度 正相关
|
||||
|
||||
所以这里LQR_distance和LQR_speed的计算乘以-0.5,不能单看负号
|
||||
distance_control = pid_distance(LQR_distance - distance_zeropoint) //LQR_u与电LQR_distance正相关
|
||||
= pid_distance( (-0.5)*(motor1.shaft_angle + motor2.shaft_angle) - distance_zeropoint)
|
||||
//在平衡车中，通常设定电机向后转（使车前进）为负，所以LQR_u与电机实际shaft_angle角度正相关，和负号没关系
|
||||
|
||||
speed_control = pid_speed(LQR_speed - 0.1 * lpf_joyy(wrobot.joyy)) // 实际速度-目标速度
|
||||
//LQR_speed代表实际速度，LQR_u与实际LQR_speed速度正相关
|
||||
= pid_speed( (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity) - 0.1 * lpf_joyy(wrobot.joyy))
|
||||
//LQR_u与实际shaft_velocity速度正相关
|
||||
*/
|
||||
motor1.target = (-0.5) * (LQR_u + YAW_output); // 负数小车向前，正数小车向后，取负号是因为电机是反的
|
||||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||||
|
||||
// 查看角度信息, 屁股向后倒 -33~-34度,舵机2048的时候-42度，头向前到底 75度，完全垂直88度
|
||||
// Serial.println(LQR_angle);
|
||||
|
||||
// 检测小车是否向后马上要倒地了，在中间过程重置所有参数
|
||||
loopCounter++;
|
||||
// loopCounter作用：在期初的800次循环内视为电源开通后第一次自平衡，不能进入resetToDefault()函数重置参数
|
||||
// resetToDefaultCounterz作用：防止小车倒地后某个角度，陷入循环，motor.target一直=0
|
||||
if ((LQR_angle < -35.0f || LQR_angle > 70.0f ) && loopCounter > 800 && resetToDefaultCounter < 130) {
|
||||
resetToDefault();
|
||||
resetToDefaultCounter++;
|
||||
motor1.target = 0;
|
||||
motor2.target = 0;
|
||||
}
|
||||
|
||||
if( abs(LQR_angle) < 25.0f){
|
||||
resetToDefaultCounter = 0;
|
||||
}
|
||||
|
||||
// target目标电压 0~8V, 0为不转, 8为最大转速
|
||||
// Serial.print("LQR_angle:");
|
||||
// Serial.println(LQR_angle);
|
||||
// // Serial.print(",loopCounter:");
|
||||
// // Serial.print(loopCounter);
|
||||
// Serial.print(",resetToDefaultCounter:");
|
||||
// Serial.print(resetToDefaultCounter);
|
||||
// // Serial.print(",motor1.target:");
|
||||
// // Serial.print(motor1.target);
|
||||
// Serial.print(",motor2.target:");
|
||||
// Serial.println(motor2.target);
|
||||
|
||||
// 监测速度变化
|
||||
// int speed_delta = robot_speed - robot_speed_last;
|
||||
// if(speed_delta > 0){
|
||||
// Serial.print("speed_delta:");
|
||||
// Serial.print(speed_delta);
|
||||
// Serial.print(",robot_speed:");
|
||||
// Serial.println(robot_speed);
|
||||
// }
|
||||
|
||||
// 处理向前跳跃
|
||||
if (forward_jump_flag) {
|
||||
forward_jump_flag++;
|
||||
if (forward_jump_flag < 25) {
|
||||
// 保持向前脉冲
|
||||
motor1.target = 1.8;
|
||||
motor2.target = 1.8;
|
||||
} else {
|
||||
// 跳跃结束，重置状态
|
||||
forward_jump_flag = 0;
|
||||
wrobot.dir = 5; // 跳跃
|
||||
}
|
||||
}
|
||||
|
||||
// 迭代计算FOC相电压
|
||||
motor1.loopFOC();
|
||||
motor2.loopFOC();
|
||||
|
||||
// 设置轮部电机输出
|
||||
motor1.move();
|
||||
motor2.move();
|
||||
|
||||
} // 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
|
||||
// lqr 控制参数： angle_control , gyro_control , distance_control , speed_control
|
||||
|
||||
// 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
|
||||
// LQR_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，正转矩驱动小车电机向后转
|
||||
// 编码器反馈shaft_angle角度，shaft_velocity速度
|
||||
// 不操作前后移动，譬如刚开机，车轮不动的，shaft_angle和shaft_velocity 都是零
|
||||
// 所以，不操作前后移动，LQR_distance 和 LQR_speed趋近于0，只有角度控制和角速度控制
|
||||
// 在平衡车中，通常设定电机向后转（使车前进）为负，所以这里LQR_distance和LQR_speed的计算乘以-0.5
|
||||
LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle); // 两个电机的旋转角度（shaft_angle）（是位置量）的平均值
|
||||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity); // 两个电机角速度（shaft_velocity）的平均值，并取反
|
||||
LQR_angle = (float)mpu6050.getAngleY(); // mpu6050 pitch 角度，向前倒正数，向后倒负数
|
||||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch Y轴角速度
|
||||
|
||||
// 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
|
||||
}
|
||||
|
||||
// 轮足离地，重置位移零点
|
||||
if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag > 0 ))
|
||||
{
|
||||
distance_zeropoint = LQR_distance;
|
||||
}
|
||||
|
||||
// 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, 连续记录两次的轮部转速
|
||||
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"（ > 10或> 50）,或处于跳跃后的恢复时期（jump_flag != 0），认为出现轮部离地现象，需要特殊处理
|
||||
// 轮部离地情况下 LQR_u计算：2个参数，角度控制量+角速度控制量，对轮位移(distance)和速度(speed)控制分量不输出；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))
|
||||
if (abs(robot_speed - robot_speed_last) > 10 || abs(robot_speed) > 50 || (jump_flag > 0 and jump_flag < 100))
|
||||
{
|
||||
// distance_zeropoint = LQR_distance; // 位移零点重置
|
||||
LQR_u = angle_control + gyro_control; // 位移和速度控制分量被忽略
|
||||
pid_lqr_u.error_prev = 0; // 输出积分清零
|
||||
}
|
||||
else // 当轮部未离地时，LQR_u：4个参数
|
||||
{
|
||||
// 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和motor2执行
|
||||
|
||||
}
|
||||
|
||||
// 小车没有控制的时候自稳定状态
|
||||
// 控制量lqr_u<5，控制量小， 遥控器无信号输入joyy=0，轮部位移控制正常介入distance_control<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()
|
||||
{
|
||||
|
||||
// 倒地时强制腿部收缩
|
||||
if (LQR_angle < -30.0f || LQR_angle > 45.0f)
|
||||
{
|
||||
Position[0] = SERVO1_MIN;
|
||||
Position[1] = SERVO2_MIN;
|
||||
safeSyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
return; // 跳过后续控制
|
||||
}
|
||||
|
||||
jump_loop();
|
||||
|
||||
if (jump_flag == 0) // 不处于跳跃状态
|
||||
{
|
||||
// 舵机加速度
|
||||
ACC[0] = 150; // max 230
|
||||
ACC[1] = 150;
|
||||
|
||||
// 舵机速度
|
||||
Speed[0] = 500;
|
||||
Speed[1] = 500;
|
||||
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;
|
||||
|
||||
// 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]
|
||||
// 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
|
||||
// const int LEG_HEIGHT_BASE = 32; // 这值越小，机身越高，实测范围 0（最高），52（最低）
|
||||
Position[0] = 2048 + 12 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add;
|
||||
Position[1] = 2048 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - 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;
|
||||
|
||||
safeSyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
}
|
||||
}
|
||||
|
||||
// 跳跃控制
|
||||
void jump_loop()
|
||||
{ // dir: 4 = STOP, 5 = jump 上次动作是跳跃5，本次是停止4，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
|
||||
if ((wrobot.dir == 5) && (jump_flag == 0))
|
||||
{
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = SERVO1_MAX;
|
||||
Position[1] = SERVO2_MAX;
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
|
||||
jump_flag = 1;
|
||||
}
|
||||
|
||||
if (jump_flag > 0) // 跳跃计数;
|
||||
{
|
||||
jump_flag ++;
|
||||
}
|
||||
|
||||
// 跳跃中，腿部缩起来
|
||||
if ((jump_flag > 35) && (jump_flag < 40))
|
||||
{
|
||||
ACC[0] = 0;
|
||||
ACC[1] = 0;
|
||||
Speed[0] = 0;
|
||||
Speed[1] = 0;
|
||||
Position[0] = (2048 + 12 + 8.4 * (35 - 25)); // 不能是SERVO1_MIN值，防止腿部碰撞，减号后的值越小，机身越高
|
||||
Position[1] = (2048 - 12 - 8.4 * (35 - 25));
|
||||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||||
resetToDefault();
|
||||
jump_flag = 45;
|
||||
}
|
||||
|
||||
// jump_flag归零
|
||||
if (jump_flag > 350) // 2000=6s ,1s=2000/6=333.33
|
||||
{
|
||||
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 * 0.01; // 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();// 左右偏航角度
|
||||
YAW_gyro = (float)mpu6050.getGyroZ(); // 左右偏航角速度（转速），用于纠正小车前后走直线时的角度偏差
|
||||
|
||||
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++;
|
||||
}
|
||||
|
||||
// LED闪烁函数(不要用for，会阻塞其他程序)
|
||||
void blinkLed() {
|
||||
digitalWrite(LED_BAT, HIGH);
|
||||
delay(200);
|
||||
digitalWrite(LED_BAT, LOW);
|
||||
delay(200);
|
||||
digitalWrite(LED_BAT, HIGH);
|
||||
delay(200);
|
||||
digitalWrite(LED_BAT, LOW);
|
||||
delay(200);
|
||||
}
|
||||
|
||||
// 重置到默认参数状态，用于自平衡起立
|
||||
void resetToDefault() {
|
||||
|
||||
angle_zeropoint = original_angle_zeropoint;
|
||||
LQR_speed = 0;
|
||||
LQR_distance = 0;
|
||||
speed_control = 0;
|
||||
distance_control = 0;
|
||||
// 需要将位移零点设置为当前位置
|
||||
// distance_zeropoint = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle);
|
||||
distance_zeropoint = 0;
|
||||
LQR_u = 0;
|
||||
|
||||
// YAW轴控制数据
|
||||
YAW_gyro = 0;
|
||||
YAW_angle = 0;
|
||||
YAW_angle_last = 0;
|
||||
YAW_angle_total = 0;
|
||||
YAW_angle_zero_point = -10;
|
||||
YAW_output = 0;
|
||||
|
||||
// 逻辑处理标志位
|
||||
robot_speed = 0;
|
||||
robot_speed_last = 0;
|
||||
wrobot_move_stop_flag = 0;
|
||||
jump_flag = 0;
|
||||
leg_position_add = 0;
|
||||
|
||||
pid_lqr_u.error_prev = 0;
|
||||
|
||||
}
|
||||
|
||||
// 优化的舵机控制函数，避免舵机发热
|
||||
void safeSyncWritePosEx(byte* id, byte idCount, s16* position, u16* speed, byte* acc) {
|
||||
|
||||
// 检查位置变化是否超过死区
|
||||
bool needUpdate = false;
|
||||
for(int i = 0; i < idCount; i++) {
|
||||
if(id[i] == 1 && abs(position[i] - lastPosition0) > SERVO_DEAD_ZONE) {
|
||||
needUpdate = true;
|
||||
break;
|
||||
}
|
||||
if(id[i] == 2 && abs(position[i] - lastPosition1) > SERVO_DEAD_ZONE) {
|
||||
needUpdate = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果需要更新，发送指令并记录新位置和时间
|
||||
if(needUpdate) {
|
||||
sms_sts.SyncWritePosEx(id, idCount, position, speed, acc);
|
||||
|
||||
// 更新记录的位置
|
||||
for(int i = 0; i < idCount; i++) {
|
||||
if(id[i] == 1) lastPosition0 = position[i];
|
||||
if(id[i] == 2) lastPosition1 = position[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,173 @@
|
||||
// -----------------------------------------------------------------------------
|
||||
// Copyright (c) 2024 Mu Shibo
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
// THE SOFTWARE.
|
||||
// -----------------------------------------------------------------------------
|
||||
|
||||
#include "robot.h"
|
||||
|
||||
Wrobot wrobot;
|
||||
RobotProtocol::RobotProtocol(uint8_t len)
|
||||
{
|
||||
_len = len;
|
||||
_now_buf = new uint8_t[_len];
|
||||
_old_buf = new uint8_t[_len];
|
||||
|
||||
for (int i = 0; i < _len; i++)
|
||||
{
|
||||
_now_buf[i] = 0;
|
||||
}
|
||||
|
||||
_now_buf[0] = 0xAA;
|
||||
_now_buf[1] = 0x55;
|
||||
}
|
||||
|
||||
RobotProtocol::~RobotProtocol()
|
||||
{
|
||||
delete[] _now_buf;
|
||||
delete[] _old_buf;
|
||||
}
|
||||
|
||||
void RobotProtocol::spinOnce(void)
|
||||
{
|
||||
int flag = checkBufRefresh(); // 对比 _now_buf 和 _old_buf,若有更新，函数返回 1；若无更新，返回 0
|
||||
if (flag)
|
||||
{
|
||||
// UART_WriteBuf(); //这个会将web端的控制信息转成串口协议发出
|
||||
|
||||
// Serial.println(wrobot.dir);//测试数据获取
|
||||
// Serial.println("date have send\n");
|
||||
// Serial.printf("height:%d\n", wrobot.height);
|
||||
// Serial.printf("roll:%d\n", wrobot.roll);
|
||||
// Serial.printf("linear:%d\n", wrobot.linear);
|
||||
// Serial.printf("\n");
|
||||
// Serial.printf("joy_X:%d\n", wrobot.joyx);
|
||||
// Serial.printf("joy_Y:%d\n", wrobot.joyy);
|
||||
}
|
||||
}
|
||||
|
||||
/**************如下同时用于串口输出控制协议***************/
|
||||
|
||||
void RobotProtocol::UART_WriteBuf(void)
|
||||
{
|
||||
for (int i = 0; i < _len; i++)
|
||||
{
|
||||
Serial.write(_now_buf[i]);
|
||||
}
|
||||
}
|
||||
|
||||
int RobotProtocol::checkBufRefresh(void)
|
||||
{
|
||||
int ret = 0;
|
||||
for (int i = 0; i < _len; i++)
|
||||
{
|
||||
if (_now_buf[i] != _old_buf[i])
|
||||
{
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = 0;
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < _len; i++)
|
||||
{
|
||||
_old_buf[i] = _now_buf[i];
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
void RobotProtocol::parseBasic(StaticJsonDocument<300> &doc)
|
||||
{
|
||||
|
||||
_now_buf[2] = BASIC;
|
||||
|
||||
String dir = doc["dir"];
|
||||
if (dir == "stop")
|
||||
{
|
||||
_now_buf[3] = STOP;
|
||||
wrobot.dir = STOP;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (dir == "jump")
|
||||
{
|
||||
_now_buf[3] = JUMP;
|
||||
wrobot.dir = JUMP;
|
||||
}
|
||||
else
|
||||
{
|
||||
_now_buf[3] = STOP;
|
||||
wrobot.dir = STOP;
|
||||
}
|
||||
}
|
||||
|
||||
int height = doc["height"];
|
||||
_now_buf[4] = height;
|
||||
wrobot.height = height;
|
||||
|
||||
int roll = doc["roll"];
|
||||
wrobot.roll = roll;
|
||||
if (roll >= 0)
|
||||
{
|
||||
_now_buf[5] = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
_now_buf[5] = 1;
|
||||
}
|
||||
_now_buf[6] = abs(roll);
|
||||
|
||||
int stable = doc["stable"];
|
||||
wrobot.go = stable;
|
||||
if (stable)
|
||||
{
|
||||
_now_buf[11] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
_now_buf[11] = 0;
|
||||
}
|
||||
|
||||
int joy_x = doc["joy_x"];
|
||||
wrobot.joyx = joy_x;
|
||||
if (joy_x >= 0)
|
||||
{
|
||||
_now_buf[12] = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
_now_buf[12] = 1;
|
||||
}
|
||||
_now_buf[13] = abs(joy_x);
|
||||
|
||||
int joy_y = doc["joy_y"];
|
||||
wrobot.joyy = joy_y;
|
||||
if (joy_y >= 0)
|
||||
{
|
||||
_now_buf[14] = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
_now_buf[14] = 1;
|
||||
}
|
||||
_now_buf[15] = abs(joy_y);
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
#include "wifi_config.h"
|
||||
|
||||
// 配置AP（热点）模式相关参数
|
||||
const char *AP_SSID = "WLROBOT-TD";
|
||||
const char *AP_PSW = "wlrobot123";
|
||||
|
||||
IPAddress AP_IP(192, 168, 1, 11);
|
||||
IPAddress AP_GATEWAY(192, 168, 1, 11);
|
||||
IPAddress AP_SUBNET(255, 255, 255, 0);
|
||||
|
||||
|
||||
void WiFi_SetAP(void)
|
||||
{
|
||||
WiFi.mode(WIFI_AP);
|
||||
WiFi.softAPConfig(AP_IP, AP_GATEWAY, AP_SUBNET);
|
||||
WiFi.softAP(AP_SSID, AP_PSW);
|
||||
|
||||
// 启动 AP 并添加调试信息
|
||||
// if(WiFi.softAP(AP_SSID, AP_PSW)) {
|
||||
// Serial.println("AP Created Successfully!");
|
||||
// Serial.print("SSID: ");
|
||||
// Serial.println(AP_SSID);
|
||||
// Serial.print("IP Address: ");
|
||||
// Serial.println(WiFi.softAPIP());
|
||||
// Serial.print("MAC Address: ");
|
||||
// Serial.println(WiFi.softAPmacAddress());
|
||||
// } else {
|
||||
// Serial.println("AP Creation Failed!");
|
||||
// }
|
||||
}
|
||||
|
||||
Reference in new issue
Block a user