diff --git a/Shibo-main-V4-ESPNOW/.gitignore b/Shibo-main-TOMMY/.gitignore similarity index 100% rename from Shibo-main-V4-ESPNOW/.gitignore rename to Shibo-main-TOMMY/.gitignore diff --git a/Shibo-main-V4-ESPNOW/.vscode/extensions.json b/Shibo-main-TOMMY/.vscode/extensions.json similarity index 100% rename from Shibo-main-V4-ESPNOW/.vscode/extensions.json rename to Shibo-main-TOMMY/.vscode/extensions.json diff --git a/Shibo-main-V4-ESPNOW/.vscode/settings.json b/Shibo-main-TOMMY/.vscode/settings.json similarity index 71% rename from Shibo-main-V4-ESPNOW/.vscode/settings.json rename to Shibo-main-TOMMY/.vscode/settings.json index 25cf48e..4bf240d 100644 --- a/Shibo-main-V4-ESPNOW/.vscode/settings.json +++ b/Shibo-main-TOMMY/.vscode/settings.json @@ -7,6 +7,10 @@ "iterator": "cpp", "random": "cpp", "atomic": "cpp", - "cstdint": "cpp" + "cstdint": "cpp", + "memory": "cpp", + "optional": "cpp", + "streambuf": "cpp", + "tuple": "cpp" } } \ No newline at end of file diff --git a/Shibo-main-V4-ESPNOW/README.md b/Shibo-main-TOMMY/README.md similarity index 100% rename from Shibo-main-V4-ESPNOW/README.md rename to Shibo-main-TOMMY/README.md diff --git a/Shibo-main-V4-ESPNOW/include/Servo_STS3032.h b/Shibo-main-TOMMY/include/Servo_STS3032.h similarity index 100% rename from Shibo-main-V4-ESPNOW/include/Servo_STS3032.h rename to Shibo-main-TOMMY/include/Servo_STS3032.h diff --git a/Shibo-main-V4-ESPNOW/include/basic_web.h b/Shibo-main-TOMMY/include/basic_web.h similarity index 100% rename from Shibo-main-V4-ESPNOW/include/basic_web.h rename to Shibo-main-TOMMY/include/basic_web.h diff --git a/Shibo-main-V4-ESPNOW/include/main.h b/Shibo-main-TOMMY/include/main.h similarity index 93% rename from Shibo-main-V4-ESPNOW/include/main.h rename to Shibo-main-TOMMY/include/main.h index 6b8a458..df3c898 100644 --- a/Shibo-main-V4-ESPNOW/include/main.h +++ b/Shibo-main-TOMMY/include/main.h @@ -22,12 +22,14 @@ void basicWebCallback(void); void webSocketEventCallback(uint8_t num, WStype_t type, uint8_t *payload, size_t length); void adc_calibration_init(); void bat_check(); -void blinkLed(); void web_loop(); void lqr_balance_loop(); void yaw_loop(); void leg_loop(); void jump_loop(); void yaw_angle_addup(); +void blinkLed(); +void detectObstacle(); +void resetToDefault(); #endif diff --git a/Shibo-main-V4-ESPNOW/include/robot.h b/Shibo-main-TOMMY/include/robot.h similarity index 100% rename from Shibo-main-V4-ESPNOW/include/robot.h rename to Shibo-main-TOMMY/include/robot.h diff --git a/Shibo-main-V4-ESPNOW/include/wifi_config.h b/Shibo-main-TOMMY/include/wifi_config.h similarity index 100% rename from Shibo-main-V4-ESPNOW/include/wifi_config.h rename to Shibo-main-TOMMY/include/wifi_config.h diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/ArduinoJson.h b/Shibo-main-TOMMY/lib/ArduinoJson/ArduinoJson.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/ArduinoJson.h rename to Shibo-main-TOMMY/lib/ArduinoJson/ArduinoJson.h diff --git 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Deserialization/deserialize.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Deserialization/deserialize.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Deserialization/deserialize.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Deserialization/deserialize.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Document/BasicJsonDocument.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Document/BasicJsonDocument.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Document/BasicJsonDocument.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Document/BasicJsonDocument.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Document/DynamicJsonDocument.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Document/DynamicJsonDocument.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/EscapeSequence.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Json/EscapeSequence.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/EscapeSequence.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Json/EscapeSequence.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/JsonDeserializer.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Json/JsonDeserializer.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/JsonDeserializer.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Json/JsonDeserializer.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/JsonSerializer.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Json/JsonSerializer.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Json/JsonSerializer.hpp rename to 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b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackDeserializer.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackDeserializer.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackDeserializer.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/MsgPack/MsgPackSerializer.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/endianess.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/MsgPack/endianess.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/MsgPack/endianess.hpp rename to 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b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Numbers/JsonInteger.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Numbers/JsonInteger.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Numbers/JsonInteger.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Numbers/arithmeticCompare.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Numbers/arithmeticCompare.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Numbers/arithmeticCompare.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Numbers/arithmeticCompare.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Numbers/convertNumber.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Numbers/convertNumber.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Numbers/convertNumber.hpp rename to 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Object/JsonPair.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Object/JsonPair.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Object/JsonPair.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Object/JsonPair.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Object/MemberProxy.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Object/MemberProxy.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Object/MemberProxy.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Object/MemberProxy.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/alias_cast.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/alias_cast.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/alias_cast.hpp rename to 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/pgmspace_generic.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/pgmspace_generic.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/pgmspace_generic.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/pgmspace_generic.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/preprocessor.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/preprocessor.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/preprocessor.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/preprocessor.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/enable_if.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/integral_constant.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/integral_constant.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/integral_constant.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/integral_constant.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_array.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_array.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_array.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_array.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_base_of.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_class.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Polyfills/type_traits/is_class.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/ArduinoStringWriter.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/ArduinoStringWriter.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/ArduinoStringWriter.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/ArduinoStringWriter.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/DummyWriter.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/DummyWriter.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/DummyWriter.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/DummyWriter.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/Writers/PrintWriter.hpp 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--git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/serialize.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/serialize.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Serialization/serialize.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Serialization/serialize.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringCopier.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringCopier.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringCopier.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringCopier.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringMover.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/StringStorage/StringMover.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/JsonString.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/JsonString.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/JsonString.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/JsonString.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/RamString.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/RamString.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/RamString.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/RamString.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/StringObject.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Strings/Adapters/StringObject.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantRefBase.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantRefBase.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantRefBase.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantRefBase.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantSlot.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantSlot.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantSlot.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantSlot.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTag.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTag.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTag.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTag.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTo.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTo.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTo.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/VariantTo.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/Visitor.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/Visitor.hpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/Variant/Visitor.hpp rename to Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/Variant/Visitor.hpp diff --git a/Shibo-main-V4-ESPNOW/lib/ArduinoJson/src/ArduinoJson/compatibility.hpp b/Shibo-main-TOMMY/lib/ArduinoJson/src/ArduinoJson/compatibility.hpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/examples/GetAllData/GetAllData.ino b/Shibo-main-TOMMY/lib/MPU6050_tockn/examples/GetAllData/GetAllData.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/examples/GetAllData/GetAllData.ino rename to Shibo-main-TOMMY/lib/MPU6050_tockn/examples/GetAllData/GetAllData.ino diff --git a/Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/examples/GetAngle/GetAngle.ino b/Shibo-main-TOMMY/lib/MPU6050_tockn/examples/GetAngle/GetAngle.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/examples/GetAngle/GetAngle.ino rename to Shibo-main-TOMMY/lib/MPU6050_tockn/examples/GetAngle/GetAngle.ino diff --git a/Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/library.properties b/Shibo-main-TOMMY/lib/MPU6050_tockn/library.properties similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/library.properties rename to Shibo-main-TOMMY/lib/MPU6050_tockn/library.properties diff --git a/Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/src/MPU6050_tockn.cpp b/Shibo-main-TOMMY/lib/MPU6050_tockn/src/MPU6050_tockn.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/src/MPU6050_tockn.cpp rename to Shibo-main-TOMMY/lib/MPU6050_tockn/src/MPU6050_tockn.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/src/MPU6050_tockn.h b/Shibo-main-TOMMY/lib/MPU6050_tockn/src/MPU6050_tockn.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/MPU6050_tockn/src/MPU6050_tockn.h rename to Shibo-main-TOMMY/lib/MPU6050_tockn/src/MPU6050_tockn.h diff --git a/Shibo-main-V4-ESPNOW/lib/README b/Shibo-main-TOMMY/lib/README similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/README rename to Shibo-main-TOMMY/lib/README diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/INST.h b/Shibo-main-TOMMY/lib/SCServo/INST.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/INST.h rename to Shibo-main-TOMMY/lib/SCServo/INST.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCS.cpp b/Shibo-main-TOMMY/lib/SCServo/SCS.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCS.cpp rename to Shibo-main-TOMMY/lib/SCServo/SCS.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCS.h b/Shibo-main-TOMMY/lib/SCServo/SCS.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCS.h rename to Shibo-main-TOMMY/lib/SCServo/SCS.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCSCL.cpp b/Shibo-main-TOMMY/lib/SCServo/SCSCL.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCSCL.cpp rename to Shibo-main-TOMMY/lib/SCServo/SCSCL.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCSCL.h b/Shibo-main-TOMMY/lib/SCServo/SCSCL.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCSCL.h rename to Shibo-main-TOMMY/lib/SCServo/SCSCL.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCSerial.cpp b/Shibo-main-TOMMY/lib/SCServo/SCSerial.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCSerial.cpp rename to Shibo-main-TOMMY/lib/SCServo/SCSerial.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCSerial.h b/Shibo-main-TOMMY/lib/SCServo/SCSerial.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCSerial.h rename to Shibo-main-TOMMY/lib/SCServo/SCSerial.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCServo.h b/Shibo-main-TOMMY/lib/SCServo/SCServo.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCServo.h rename to Shibo-main-TOMMY/lib/SCServo/SCServo.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SCServo.txt b/Shibo-main-TOMMY/lib/SCServo/SCServo.txt similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SCServo.txt rename to Shibo-main-TOMMY/lib/SCServo/SCServo.txt diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SMS_STS.cpp b/Shibo-main-TOMMY/lib/SCServo/SMS_STS.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SMS_STS.cpp rename to Shibo-main-TOMMY/lib/SCServo/SMS_STS.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/SMS_STS.h b/Shibo-main-TOMMY/lib/SCServo/SMS_STS.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/SMS_STS.h rename to Shibo-main-TOMMY/lib/SCServo/SMS_STS.h diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/Broadcast/Broadcast.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/Broadcast/Broadcast.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/Broadcast/Broadcast.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/Broadcast/Broadcast.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/FeedBack/FeedBack.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/FeedBack/FeedBack.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/FeedBack/FeedBack.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/FeedBack/FeedBack.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/Ping/Ping.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/Ping/Ping.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/Ping/Ping.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/Ping/Ping.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/RegWritePos/RegWritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/RegWritePos/RegWritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/RegWritePos/RegWritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/RegWritePos/RegWritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/WritePos/WritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/WritePos/WritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/WritePos/WritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/SCSCL/WritePos/WritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/CalibrationOfs/CalibrationOfs.ino b/Shibo-main-TOMMY/lib/SCServo/examples/STSCL/CalibrationOfs/CalibrationOfs.ino similarity index 100% rename from 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Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/ProgramEprom/ProgramEprom.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/STSCL/ProgramEprom/ProgramEprom.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/RegWritePos/RegWritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/STSCL/RegWritePos/RegWritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/RegWritePos/RegWritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/STSCL/RegWritePos/RegWritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/SyncWritePos/SyncWritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/STSCL/SyncWritePos/SyncWritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/SyncWritePos/SyncWritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/STSCL/SyncWritePos/SyncWritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/WritePos/WritePos.ino b/Shibo-main-TOMMY/lib/SCServo/examples/STSCL/WritePos/WritePos.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/examples/STSCL/WritePos/WritePos.ino rename to Shibo-main-TOMMY/lib/SCServo/examples/STSCL/WritePos/WritePos.ino diff --git a/Shibo-main-V4-ESPNOW/lib/SCServo/library.properties b/Shibo-main-TOMMY/lib/SCServo/library.properties similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/SCServo/library.properties rename to Shibo-main-TOMMY/lib/SCServo/library.properties diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/LICENSE b/Shibo-main-TOMMY/lib/Simple_FOC/LICENSE similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/LICENSE rename to Shibo-main-TOMMY/lib/Simple_FOC/LICENSE diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/README.md b/Shibo-main-TOMMY/lib/Simple_FOC/README.md similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/README.md rename to Shibo-main-TOMMY/lib/Simple_FOC/README.md diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/B_G431B_ESC1/build_opt.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino rename to 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b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/README.md b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/README.md similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/README.md rename to Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/README.md diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino b/Shibo-main-TOMMY/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino rename to 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b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/FOCMotor.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/FOCMotor.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/FOCMotor.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/Sensor.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/Sensor.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/Sensor.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/Sensor.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/Sensor.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/StepperDriver.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/StepperDriver.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/base_classes/StepperDriver.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/base_classes/StepperDriver.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/defaults.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/defaults.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/defaults.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/defaults.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/foc_utils.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/foc_utils.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/foc_utils.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/foc_utils.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/foc_utils.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/lowpass_filter.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/lowpass_filter.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/lowpass_filter.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/lowpass_filter.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/lowpass_filter.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/pid.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/pid.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/pid.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/pid.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/pid.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/time_utils.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/time_utils.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/common/time_utils.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/common/time_utils.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/common/time_utils.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/communication/Commander.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/communication/Commander.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/communication/Commander.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/Commander.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/communication/Commander.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/communication/StepDirListener.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/communication/StepDirListener.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/communication/StepDirListener.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/StepDirListener.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/communication/StepDirListener.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/commands.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/communication/commands.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/communication/commands.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/communication/commands.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/GenericCurrentSense.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/InlineCurrentSense.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/InlineCurrentSense.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_api.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_api.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_api.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_api.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/atmega_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/due_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_adc_driver.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_ledc_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/esp32_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/generic_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd21_mcu.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/samd_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_hal.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/stm32g4_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/hardware_specific/teensy_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver3PWM.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver2PWM.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver2PWM.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver4PWM.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/StepperDriver4PWM.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_api.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_api.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_api.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_api.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega2560_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega328_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/atmega32u4_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/due_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp32_ledc_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp32_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/esp8266_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/generic_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/nrf52_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/portenta_h7_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/rp2040_mcu.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/hardware_specific/samd21_mcu.cpp similarity index 100% rename from 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a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/GenericSensor.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/GenericSensor.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/GenericSensor.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/HallSensor.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/HallSensor.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/HallSensor.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/HallSensor.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/HallSensor.h diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorAnalog.cpp 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a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp b/Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp rename to Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/MagneticSensorSPI.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h b/Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h rename to Shibo-main-TOMMY/lib/Simple_FOC/src/sensors/MagneticSensorSPI.h diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/LICENSE b/Shibo-main-TOMMY/lib/WebSockets/LICENSE similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/LICENSE rename to Shibo-main-TOMMY/lib/WebSockets/LICENSE diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/README.md b/Shibo-main-TOMMY/lib/WebSockets/README.md similarity index 100% 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a/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino b/Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino rename to Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerFragmentation/WebSocketServerFragmentation.ino diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino b/Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino rename to Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerHooked/WebSocketServerHooked.ino diff --git 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b/Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino rename to Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServerHttpHeaderValidation/WebSocketServerHttpHeaderValidation.ino diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino b/Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino rename to Shibo-main-TOMMY/lib/WebSockets/examples/esp8266/WebSocketServer_LEDcontrol/WebSocketServer_LEDcontrol.ino diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp b/Shibo-main-TOMMY/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp rename to Shibo-main-TOMMY/lib/WebSockets/examples/particle/ParticleWebSocketClient/application.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/library.json b/Shibo-main-TOMMY/lib/WebSockets/library.json similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/library.json rename to Shibo-main-TOMMY/lib/WebSockets/library.json diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/library.properties b/Shibo-main-TOMMY/lib/WebSockets/library.properties similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/library.properties rename to Shibo-main-TOMMY/lib/WebSockets/library.properties diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.cpp b/Shibo-main-TOMMY/lib/WebSockets/src/SocketIOclient.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.cpp rename to Shibo-main-TOMMY/lib/WebSockets/src/SocketIOclient.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.h b/Shibo-main-TOMMY/lib/WebSockets/src/SocketIOclient.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/SocketIOclient.h rename to Shibo-main-TOMMY/lib/WebSockets/src/SocketIOclient.h diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.cpp b/Shibo-main-TOMMY/lib/WebSockets/src/WebSockets.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.cpp rename to Shibo-main-TOMMY/lib/WebSockets/src/WebSockets.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSockets.h b/Shibo-main-TOMMY/lib/WebSockets/src/WebSockets.h similarity index 100% rename from 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diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.cpp b/Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsServer.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.cpp rename to Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsServer.cpp diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.h b/Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsServer.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsServer.h rename to Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsServer.h diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsVersion.h b/Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsVersion.h similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/src/WebSocketsVersion.h rename to Shibo-main-TOMMY/lib/WebSockets/src/WebSocketsVersion.h diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/src/libb64/AUTHORS b/Shibo-main-TOMMY/lib/WebSockets/src/libb64/AUTHORS 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Shibo-main-TOMMY/lib/WebSockets/tests/webSocketServer/package.json diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/travis/common.sh b/Shibo-main-TOMMY/lib/WebSockets/travis/common.sh similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/travis/common.sh rename to Shibo-main-TOMMY/lib/WebSockets/travis/common.sh diff --git a/Shibo-main-V4-ESPNOW/lib/WebSockets/travis/version.py b/Shibo-main-TOMMY/lib/WebSockets/travis/version.py similarity index 100% rename from Shibo-main-V4-ESPNOW/lib/WebSockets/travis/version.py rename to Shibo-main-TOMMY/lib/WebSockets/travis/version.py diff --git a/Shibo-main-V4-ESPNOW/platformio.ini b/Shibo-main-TOMMY/platformio.ini similarity index 100% rename from Shibo-main-V4-ESPNOW/platformio.ini rename to Shibo-main-TOMMY/platformio.ini diff --git a/Shibo-main-V4-ESPNOW/src/Servo_STS3032.cpp b/Shibo-main-TOMMY/src/Servo_STS3032.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/src/Servo_STS3032.cpp rename to Shibo-main-TOMMY/src/Servo_STS3032.cpp diff --git a/Shibo-main-TOMMY/src/main.cpp b/Shibo-main-TOMMY/src/main.cpp new file mode 100644 index 0000000..1e49ab7 --- /dev/null +++ b/Shibo-main-TOMMY/src/main.cpp @@ -0,0 +1,792 @@ +// ----------------------------------------------------------------------------- +// Copyright (c) 2024 Mu Shibo +// Modify by Tommy 2025.8.11 +// ----------------------------------------------------------------------------- + +#include +#include +#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); // pitch角度PID使其趋于零点 +PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点 +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); + +// 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 + +#define LEG_HEIGHT_BASE 32 // 腿部默认高度基准值 + +// 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; // 设定默认俯仰角度，向前到正，向后倒负 +float distance_zeropoint = 1; // 轮部位移零点偏置 + +// 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 + +// 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; + +int loopCounter = 0; // loop函数执行计数 +int resetToDefaultCounter = 0; // resetToDefault执行计数 + +// 电量显示LED +#define LED_BAT 13 + +// 定义摇杆数值死区参数 +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; + +// 蓝灯爆闪 +bool lastbuttonLB = 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)); + + // 摇杆输出范围0-255，转换到 -100 到 100 + // roll 左右摇摆 + int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30 + // 上下高度 + int convertedJ1PotY = static_cast((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 + // 左右旋转 + int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100 + // 前后速度 + 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 + + // 取反按钮值，使得默认显示 0 false，按下显示 1 true + int convertedbuttonLB = !remoteData.buttonLB; // 顶部左 + int convertedbuttonRB = !remoteData.buttonRB; // 顶部右 + + // 跳跃 + if (convertedbuttonRB) { // 1=true，0=false + wrobot.dir = 5; // 跳跃 + }else{ + wrobot.dir = 4; // 不跳跃 + } + + // led蓝灯爆闪 + if (lastbuttonLB && !convertedbuttonLB) { + blinkLed(); // 不能写在loop中，会阻断legloop，小车会倒下 + } + // 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 + + // Wifi初始化 + WiFi_SetAP(); + webserver.begin(); + webserver.on("/", HTTP_GET, basicWebCallback); + websocket.begin(); + websocket.onEvent(webSocketEventCallback); + + // 初始化ESP-NOW + WiFi.mode(WIFI_STA); // 打开这行注释就能开启sta模式，同时默认关闭ap热点模式，省电+稳定，而且不会影响espnow通信和整体代码框架 + if (esp_now_init() != ESP_OK) { + Serial.println("Error initializing ESP-NOW"); + return; + } + esp_now_register_recv_cb(OnDataRecv); + + // 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] = 2048; + // Position[1] = 2048; + 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() +{ + + 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 + 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 + 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; + // Serial.println("resetToDefault"); + } + + 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.print(LQR_angle); + // Serial.print(",motor1.target:"); + // Serial.print(motor1.target); + // Serial.print(",motor2.target:"); + // Serial.println(motor2.target); + + // 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 + } + + // 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)) + { + 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; + sms_sts.SyncWritePosEx(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] = 8; + ACC[1] = 8; + + // 舵机速度 + 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; + + // 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）2400-1900=500 + // 舵机id 2：2300（机身最矮） 1800（机身最高）2300-1800=500 + // 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; + + sms_sts.SyncWritePosEx(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)) + { + // 设定最大正向电压（快速加速） + // motor1.target = -8.0f; + // motor2.target = -8.0f; + // motor1.loopFOC(); + // motor2.loopFOC(); + // motor1.move(); + // motor2.move(); + // delay(50); // 缩短加速时间（50ms足够获得初速度） + + // 跳跃开始 + 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) // 跳跃中，腿部缩起来，等待30帧，对应上面设置 jump_flag = 1; + { + jump_flag++; + + // if (jump_flag == 25) { // 跳跃上升阶段停止轮子转动 + // motor1.target = 0; + // motor2.target = 0; + // } + + 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 * 0.01; // 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(); + 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++; +} + +// 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() { + // LQR自平衡控制器参数 + LQR_angle = 0; + LQR_gyro = 0; + angle_control = 0; + gyro_control = 0; + angle_zeropoint = 5; + + LQR_speed = 0; + LQR_distance = 0; + speed_control = 0; + distance_control = 0; + distance_zeropoint = 1; + 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; + + + +} \ No newline at end of file diff --git a/Shibo-main-V4-ESPNOW/src/robot.cpp b/Shibo-main-TOMMY/src/robot.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/src/robot.cpp rename to Shibo-main-TOMMY/src/robot.cpp diff --git a/Shibo-main-V4-ESPNOW/src/wifi_config.cpp b/Shibo-main-TOMMY/src/wifi_config.cpp similarity index 100% rename from Shibo-main-V4-ESPNOW/src/wifi_config.cpp rename to Shibo-main-TOMMY/src/wifi_config.cpp diff --git a/Shibo-main-V4-ESPNOW/test/basic_web.html b/Shibo-main-TOMMY/test/basic_web.html similarity index 100% rename from Shibo-main-V4-ESPNOW/test/basic_web.html rename to Shibo-main-TOMMY/test/basic_web.html diff --git a/Shibo-main-TOMMY/test/main copy.cpp b/Shibo-main-TOMMY/test/main copy.cpp new file mode 100644 index 0000000..4f5c4a1 --- /dev/null +++ b/Shibo-main-TOMMY/test/main copy.cpp @@ -0,0 +1,760 @@ +// ----------------------------------------------------------------------------- +// Copyright (c) 2024 Mu Shibo +// Modify by Tommy 2025.8.11 +// ----------------------------------------------------------------------------- + +#include +#include +#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); // pitch角度PID使其趋于零点 +PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点 +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); + +// 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 + +#define LEG_HEIGHT_BASE 32 // 腿部默认高度基准值 + +// 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; // 设定默认俯仰角度，向前到正，向后倒负 +float distance_zeropoint = 1; // 轮部位移零点偏置 + +// 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 + +// 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 + +// 定义摇杆数值死区参数 +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; + +// 蓝灯爆闪 +bool lastbuttonLB = 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)); + + // 摇杆输出范围0-255，转换到 -100 到 100 + // roll 左右摇摆 + int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30 + // 上下高度 + int convertedJ1PotY = static_cast((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 + // 左右旋转 + int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100 + // 前后速度 + 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 + + // 取反按钮值，使得默认显示 0 false，按下显示 1 true + int convertedbuttonLB = !remoteData.buttonLB; // 顶部左 + int convertedbuttonRB = !remoteData.buttonRB; // 顶部右 + + // 跳跃 + if (convertedbuttonRB) { // 1=true，0=false + wrobot.dir = 5; // 跳跃 + }else{ + wrobot.dir = 4; // 不跳跃 + } + + // led蓝灯爆闪 + if (lastbuttonLB && !convertedbuttonLB) { + blinkLed(); // 不能写在loop中，会阻断legloop，小车会倒下 + } + // 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 + + // Wifi初始化 + WiFi_SetAP(); + webserver.begin(); + webserver.on("/", HTTP_GET, basicWebCallback); + websocket.begin(); + websocket.onEvent(webSocketEventCallback); + + // 初始化ESP-NOW + WiFi.mode(WIFI_STA); // 打开这行注释就能开启sta模式，同时默认关闭ap热点模式，省电+稳定，而且不会影响espnow通信和整体代码框架 + if (esp_now_init() != ESP_OK) { + Serial.println("Error initializing ESP-NOW"); + return; + } + esp_now_register_recv_cb(OnDataRecv); + + // 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] = 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; // 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() +{ + + 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 + 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 + motor2.target = (-0.5) * (LQR_u - YAW_output); + + // 查看角度信息, 屁股向后倒 -36度，头向前到底 45度 + // Serial.println(LQR_angle) + + // 向后倒地，角度小于-36度，向前倒地，角度大于倒地 45度， + // 检查小车是否倒地，若是则重置参数，让小车自平衡重新站起来 + if (LQR_angle < -30.0f || LQR_angle > 40.0f) { + resetToDefault(); // 非常重要！！！ + motor1.target = 0; + motor2.target = 0; + } + + // target目标电压 0~8V, 0为不转, 8为最大转速 + // Serial.print("target电压:"); + // Serial.print(motor1.target); + // Serial.print(",motor2.target:"); + // Serial.println(motor2.target); + + // 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 + } + + // 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)) + { + 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 < -36.0f || LQR_angle > 45.0f) + { + Position[0] = SERVO1_MIN; + Position[1] = SERVO2_MIN; + sms_sts.SyncWritePosEx(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] = 8; + ACC[1] = 8; + + // 舵机速度 + 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; + + // 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）2400-1900=500 + // 舵机id 2：2300（机身最矮） 1800（机身最高）2300-1800=500 + // 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; + + sms_sts.SyncWritePosEx(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 + 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); + 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 * 0.01; // 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(); + 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++; +} + +// 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() { + // LQR自平衡控制器参数 + LQR_angle = 0; + LQR_gyro = 0; + LQR_speed = 0; + LQR_distance = 0; + angle_control = 0; + gyro_control = 0; + speed_control = 0; + distance_control = 0; + LQR_u = 0; + angle_zeropoint = 5; + distance_zeropoint = 1; + + // 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; + +} \ No newline at end of file diff --git a/Shibo-main-TOMMY/test/main 障碍.cpp b/Shibo-main-TOMMY/test/main 障碍.cpp new file mode 100644 index 0000000..8b5ac6f --- /dev/null +++ b/Shibo-main-TOMMY/test/main 障碍.cpp @@ -0,0 +1,792 @@ +// ----------------------------------------------------------------------------- +// Copyright (c) 2024 Mu Shibo +// Modify by Tommy 2025.8.11 +// ----------------------------------------------------------------------------- + +#include +#include +#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); // pitch角度PID使其趋于零点 +PIDController pid_gyro(0.06, 0, 0, 100000, 8); // 角速度PID使其趋于零点 +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); + +// 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; // 俯仰角度，向前到正，向后倒负 +float distance_zeropoint = 1; // 轮部位移零点偏置 + +// 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 + +// 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 + +// LED闪烁控制变量 +bool blinking = false; +unsigned long lastBlinkTime = 0; +int blinkCount = 0; +const int BLINK_INTERVAL = 200; // 闪烁间隔(ms) +const int BLINK_TIMES = 5; // 闪烁次数 +// 在参数定义部分添加障碍物检测相关变量 +bool obstacleDetected = false; // 障碍物检测状态 +unsigned long obstacleStartTime = 0; // 障碍物开始时间 +const unsigned long OBSTACLE_DELAY = 500; // 判定为障碍物的延迟时间(毫秒) +// 在参数定义部分新增扭矩补偿相关变量 +const unsigned long BOOST_DURATION = 1500; // 最大补偿时长（3秒，避免持续高负载） +unsigned long boostStartTime = 0; // 补偿开始时间 + + +// 摇杆数据死区参数 +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; + +// 蓝灯爆闪 +bool lastbuttonLB = 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)); + + // 摇杆输出范围0-255，转换到 -100 到 100 + // roll 左右摇摆 + int convertedJ1PotX = (remoteData.j1PotX - 127.5) * (30.0 / 127.5); // 转到 -30 到 30 + // 上下高度 + int convertedJ1PotY = static_cast((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 + // 左右旋转 + int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100 + // 速度 + int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.3; // 转到 -100 到 100 y轴取反,并且放大洗漱 + + // 取反按钮值，使得默认显示 0 false，按下显示 1 true + int convertedbuttonLB = !remoteData.buttonLB; // 顶部左 + int convertedbuttonRB = !remoteData.buttonRB; // 顶部右 + + // 跳跃 + if (convertedbuttonRB) { // 1=true，0=false + wrobot.dir = 5; // 跳跃 + }else{ + wrobot.dir = 4; // 不跳跃 + } + + // led蓝灯爆闪 + if (lastbuttonLB && !convertedbuttonLB) { + blinkLed(); // 不能写在loop中，会阻断legloop，小车会倒下 + } + // 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 + + // Wifi初始化 + WiFi_SetAP(); + webserver.begin(); + webserver.on("/", HTTP_GET, basicWebCallback); + websocket.begin(); + websocket.onEvent(webSocketEventCallback); + + // 初始化ESP-NOW + WiFi.mode(WIFI_STA); // 打开这行注释就能开启sta模式，同时默认关闭ap热点模式，省电+稳定，而且不会影响espnow通信和整体代码框架 + if (esp_now_init() != ESP_OK) { + Serial.println("Error initializing ESP-NOW"); + return; + } + esp_now_register_recv_cb(OnDataRecv); + + // 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] = 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;// 扭矩控制类型 :电压作为扭矩控制的方式 + motor2.torque_controller = TorqueControlType::voltage; + motor1.controller = MotionControlType::torque; // 运动控制类型:扭矩控制模式 + motor2.controller = MotionControlType::torque; // 扭矩控制模式 + + // 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); +} + +void loop() +{ + + 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 + detectObstacle(); // 障碍物检测 + + + // 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); + + // 查看角度信息, 屁股向后倒 -36度，头向前到底 45度 + // Serial.println(LQR_angle) + + // 向后倒地 -36度，向前倒地 45度，超出这个区间，或者跳跃中，马达就不要转动了 + if(LQR_angle < -40.0f || LQR_angle > 55.0f ) { + motor1.target = 0; + motor2.target = 0; + } + + // 计算基础扭矩（原有逻辑） + float baseTorque1 = (-0.5) * (LQR_u + YAW_output); + float baseTorque2 = (-0.5) * (LQR_u - YAW_output); + + // 障碍物扭矩补偿逻辑 + if (obstacleDetected) { + // 首次进入障碍状态时记录时间 + if (boostStartTime == 0) { + boostStartTime = millis(); + } + + // 补偿时长未超时且机器人未严重倾斜时，应用扭矩补偿 + if (millis() - boostStartTime < BOOST_DURATION) { + // blinkLed(); + // 叠加补偿扭矩（仅正向，因为是前进障碍） + motor1.target = motor1.voltage_limit; + motor2.target = motor2.voltage_limit; + } else { + // 超时或姿态异常时使用基础扭矩 + motor1.target = baseTorque1; + motor2.target = baseTorque2; + } + } else { + // 无障碍物时重置补偿计时器并使用基础扭矩 + boostStartTime = 0; + motor1.target = baseTorque1; + motor2.target = baseTorque2; + } + + // 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 + // 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 + // 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，正转矩会向后转 + // 编码器反馈shaft_angle角度，shaft_velocity速度 + 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 + } + + // 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; + 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)) // 轮部离地时 + { + distance_zeropoint = LQR_distance; // 位移零点重置 + // 位移和速度控制分量被忽略 + 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：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 + } + + if (obstacleDetected) { + // 首次进入障碍状态时记录时间 + if (boostStartTime == 0) { + boostStartTime = millis(); + } + + // 补偿时长未超时且机器人未严重倾斜时，应用扭矩补偿 + if (millis() - boostStartTime < BOOST_DURATION) { + // blinkLed(); + // 叠加补偿扭矩（仅正向，因为是前进障碍） + LQR_u = LQR_u * 10.5f; + } + } else { + // 无障碍物时重置补偿计时器并使用基础扭矩 + boostStartTime = 0; + } + + // 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 < -36.0f || LQR_angle > 45.0f) + { + Position[0] = SERVO1_MIN; + Position[1] = SERVO2_MIN; + sms_sts.SyncWritePosEx(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] = 8; + ACC[1] = 8; + + // 舵机速度 + 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; + + // 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）2400-1900=500 + // 舵机id 2：2300（机身最矮） 1800（机身最高）2300-1800=500 + // 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() +{ // 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 + 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); + 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++; +} + +// LED闪烁函数(不适用for语气，非阻塞) +void blinkLed() { + unsigned long currentTime = millis(); + if (currentTime - lastBlinkTime > BLINK_INTERVAL) { + lastBlinkTime = currentTime; + digitalWrite(LED_BAT, !digitalRead(LED_BAT)); // 切换LED状态 + + if (++blinkCount >= BLINK_TIMES * 2) { // 每次闪烁包含开和关 + blinking = false; + digitalWrite(LED_BAT, LOW); // 结束闪烁后保持熄灭 + } + } +} + +// 障碍物检测函数 +void detectObstacle() { + // 条件1: 有前进指令(joyy > 0)且超过死区 + // 条件2: 实际速度很低(接近零) + // 条件3: 不在跳跃状态 + bool hasForwardCommand = (wrobot.joyy > deadZone); + bool isAlmostStopped = (abs(LQR_speed) < 1.0); + bool notJumping = (jump_flag == 0); + bool fallAngle = (LQR_angle > 5.0f || LQR_angle < 40.0f); + + if (hasForwardCommand && isAlmostStopped && notJumping && fallAngle) { + // 如果符合条件且尚未计时，记录开始时间 + if (obstacleStartTime == 0) { + obstacleStartTime = millis(); + } + // 如果持续时间超过阈值，判定为遇到障碍物 + else if (millis() - obstacleStartTime > OBSTACLE_DELAY) { + obstacleDetected = true; + // blinkLed(); + } + } else { + // 不符合条件，重置状态 + obstacleDetected = false; + obstacleStartTime = 0; + } +} \ No newline at end of file diff --git a/Shibo-main-V4-ESPNOW/src/main.cpp b/Shibo-main-TOMMY/test/main.cpp similarity index 81% rename from Shibo-main-V4-ESPNOW/src/main.cpp rename to Shibo-main-TOMMY/test/main.cpp index 65b5837..979351f 100644 --- a/Shibo-main-V4-ESPNOW/src/main.cpp +++ b/Shibo-main-TOMMY/test/main.cpp @@ -57,6 +57,8 @@ MPU6050 mpu6050(I2Ctwo); #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 +#define LEG_HEIGHT_BASE 32 // 腿部默认高度基准值 + // LQR自平衡控制器参数 float LQR_angle = 0; float LQR_gyro = 0; @@ -67,7 +69,7 @@ float gyro_control = 0; float speed_control = 0; float distance_control = 0; float LQR_u = 0; -float angle_zeropoint = 5; // 俯仰角度，向前到正，向后倒负 +float angle_zeropoint = 5; // 设定默认俯仰角度，向前到正，向后倒负 float distance_zeropoint = 1; // 轮部位移零点偏置 // YAW轴控制数据 @@ -78,6 +80,7 @@ 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]; @@ -103,7 +106,7 @@ static const adc_unit_t unit = ADC_UNIT_1; // 电量显示LED #define LED_BAT 13 -// 定义死区参数 +// 定义摇杆数值死区参数 const int deadZone = 15; typedef struct { @@ -139,8 +142,8 @@ void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) { int convertedJ1PotY = static_cast((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 // 左右旋转 int convertedJ2PotX = (remoteData.j2PotX - 127.5) * (100.0 / 127.5); // 转到 -100 到 100 - // 速度 - int convertedJ2PotY = (remoteData.j2PotY - 127.5) * (100.0 / 127.5) * -1 * 1.3; // 转到 -100 到 100 y轴取反,并且放大洗漱 + // 前后速度 + 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 // 取反按钮值，使得默认显示 0 false，按下显示 1 true int convertedbuttonLB = !remoteData.buttonLB; // 顶部左 @@ -196,7 +199,7 @@ void setup() websocket.onEvent(webSocketEventCallback); // 初始化ESP-NOW - // WiFi.mode(WIFI_STA); // 打开这行注释就能开启sta模式，同时默认关闭ap热点模式，省电+稳定，而且不会影响espnow通信和整体代码框架 + WiFi.mode(WIFI_STA); // 打开这行注释就能开启sta模式，同时默认关闭ap热点模式，省电+稳定，而且不会影响espnow通信和整体代码框架 if (esp_now_init() != ESP_OK) { Serial.println("Error initializing ESP-NOW"); return; @@ -260,10 +263,11 @@ void setup() motor1.linkDriver(&driver1); motor2.linkDriver(&driver2); - motor1.torque_controller = TorqueControlType::voltage; + 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; + 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); @@ -293,19 +297,44 @@ void loop() 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); + /* 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,不能单看符负号 + 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 motor2.target = (-0.5) * (LQR_u - YAW_output); - + // 查看角度信息, 屁股向后倒 -36度，头向前到底 45度 // Serial.println(LQR_angle) // 向后倒地 -36度，向前倒地 45度，超出这个区间，或者跳跃中，马达就不要转动了 - if(LQR_angle < -40.0f || LQR_angle > 55.0f ) { + if(LQR_angle < -50.0f || LQR_angle > 80.0f ) { motor1.target = 0; motor2.target = 0; } + // target目标电压 0~8V, 0为不转, 8为最大转速 + // Serial.print("target电压:"); + // Serial.print(motor1.target); + // Serial.print(",motor2.target:"); + // Serial.println(motor2.target); + // 迭代计算FOC相电压 motor1.loopFOC(); motor2.loopFOC(); @@ -313,7 +342,7 @@ void loop() // 设置轮部电机输出 motor1.move(); motor2.move(); -} // ----------------- void loop() +} // loop() // lqr自平衡控制 void lqr_balance_loop() @@ -321,7 +350,7 @@ 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 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) @@ -329,29 +358,15 @@ void lqr_balance_loop() // + 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 - - // 如果刚开机，车轮不动的，shaft_angle和shaft_velocity 都是零 - // LQR_distance 和 LQR_speed趋近于0 - // if(k==100) - // { - // k=0; - // Serial.print("distance:"); - // Serial.print(LQR_distance); - // Serial.print(",speed:"); - // Serial.print(LQR_speed); - // Serial.print(",angle:"); - // Serial.print(LQR_angle); - // Serial.print(",gyro:"); - // Serial.println(LQR_gyro); - // } - // k++; + // 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 @@ -391,18 +406,18 @@ void lqr_balance_loop() // 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 + // 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 + // 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)) { 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 + 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 + 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; @@ -410,7 +425,8 @@ void lqr_balance_loop() } - // 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 + // 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)) { @@ -505,26 +521,14 @@ void leg_loop() } } - // 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）2400-1900=500 // 舵机id 2：2300（机身最矮） 1800（机身最高）2300-1800=500 // 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); - + // 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 @@ -546,7 +550,8 @@ 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 + { + // 跳跃开始 ACC[0] = 0; ACC[1] = 0; Speed[0] = 0; @@ -556,10 +561,12 @@ void jump_loop() 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; @@ -585,7 +592,7 @@ 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 + 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。 @@ -704,14 +711,14 @@ void bat_check() bat_check_num++; } -// 封装LED闪烁函数 +// LED闪烁函数(不要用for，会阻塞其他程序) 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); - } + digitalWrite(LED_BAT, HIGH); + delay(200); + digitalWrite(LED_BAT, LOW); + delay(200); + digitalWrite(LED_BAT, HIGH); + delay(200); + digitalWrite(LED_BAT, LOW); + delay(200); } \ No newline at end of file diff --git a/优化模型stl/大轮毂V2.stl b/优化模型stl/大轮毂V2.stl deleted file mode 100644 index f205c81..0000000 Binary files a/优化模型stl/大轮毂V2.stl and /dev/null differ diff --git a/优化模型stl/轮毂V3.stl b/优化模型stl/轮毂V3.stl deleted file mode 100644 index 7c6c995..0000000 Binary files a/优化模型stl/轮毂V3.stl and /dev/null differ diff --git a/优化模型stl/轮毂V4.stl b/优化模型stl/轮毂V4.stl new file mode 100644 index 0000000..39507a4 Binary files /dev/null and b/优化模型stl/轮毂V4.stl differ