937 lines
30 KiB
C++
937 lines
30 KiB
C++
/* ---------------------------------
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Copyright (c) 2024 Mu Shibo
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Modify by Tommy 2025.10.08
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------------------------------------- */
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#include <Arduino.h>
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#include <esp_now.h>
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#include <WiFi.h>
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#include <FastLED.h>
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#include <MPU6050_tockn.h>
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#include <SMS_STS.h>
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#include <SimpleFOC.h>
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#include <FS.h>
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#include "esp_wifi.h"
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#include "esp_adc_cal.h"
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/************函数申明*************/
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// 电压检测函数
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void adc_calibration_init();
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void bat_check();
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// 平衡算法函数
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void lqr_balance_loop();
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void yaw_loop();
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void leg_loop();
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void jump_loop();
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void resetZeroPoint();
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void jump_charge(); // 腿部弯曲（蓄能）
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// RGB相关函数
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void handleLEDBlink();
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/************实例定义*************/
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// 电机实例
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BLDCMotor motor1 = BLDCMotor(7);
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BLDCMotor motor2 = BLDCMotor(7);
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BLDCDriver3PWM driver1 = BLDCDriver3PWM(32, 33, 25, 22);
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BLDCDriver3PWM driver2 = BLDCDriver3PWM(26, 27, 14, 12);
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// 编码器实例
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TwoWire I2Cone = TwoWire(0);
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TwoWire I2Ctwo = TwoWire(1);
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MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);
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MagneticSensorI2C sensor2 = MagneticSensorI2C(AS5600_I2C);
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// PID控制器实例
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PIDController pid_angle(1, 0, 0, 100000, 8); // 比例系数（P）, 积分系数（I）, 微分系数（D）, 积分限幅(当I=0,无效), 输出限幅（8V防止电机过载）
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PIDController pid_gyro(0.06, 0, 0, 100000, 8);
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PIDController pid_distance(0.5, 0, 0, 100000, 8);
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PIDController pid_speed(0.7, 0, 0, 100000, 8);
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PIDController pid_yaw_angle(1.0, 0, 0, 100000, 8);
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PIDController pid_yaw_gyro(0.04, 0, 0, 100000, 8);
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PIDController pid_lqr_u(1, 15, 0, 100000, 8);
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PIDController pid_zeropoint(0.002, 0, 0, 100000, 4);
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PIDController pid_roll_angle(8, 0, 0, 100000, 450);
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// 低通滤波器实例
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LowPassFilter lpf_joyy(0.2); // 新输入值占输出值的10%，历史值占90%
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LowPassFilter lpf_zeropoint(0.1);
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LowPassFilter lpf_roll(0.3);
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LowPassFilter lpf_height(0.1);
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// STS舵机实例
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SMS_STS sms_sts;
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// MPU6050实例
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MPU6050 mpu6050(I2Ctwo);
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// FastLED配置
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#define RGB_PIN 21
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#define NUM_LEDS 2
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CRGB leds[NUM_LEDS];
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unsigned long previousBlinkMillis = 0;
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int blinkState = 0;
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int blinkCount = 0;
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bool isBlinking = false;
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CRGB blinkColors[6] = {CRGB::Red, CRGB::Red, CRGB::Yellow, CRGB::Yellow, CRGB::Green, CRGB::Green};
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/************参数定义*************/
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#define pi 3.1415927
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// 机身平衡角度调整 roll轴
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float roll_adjust = 0.0f;
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// 机身高度
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float leg_height_base = 20.0f; // 改为全局变量，初始值20 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低）
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// #define LEG_HEIGHT_BASE 20 //20 腿部默认高度基准值，值越小，机身越高， 实测范围 -10（最高），52（最低）
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#define SERVO0_MIN 2047 // 舵机1最低位置，大腿与小腿碰到一起， 从小车正面看右手边舵机
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#define SERVO1_MIN 2047 // 舵机2最低位置，大腿与小腿碰到一起， 从小车正面看左手边舵机
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#define SERVO0_MAX (2047 + 12 + 8.4 * (35 + 10)) // 2438 舵机1最高
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#define SERVO1_MAX (2047 - 12 - 8.4 * (35 + 10)) // 1658 舵机2最高
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float leg_position_add = 0; // roll轴平衡控制量
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int left_height;
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int right_height;
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float LegHeightDiff = 0; // 左右腿高度差
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// 舵机运动参数
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byte ID[2] = {1, 2};
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s16 Position[2];
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u16 Speed[2];
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byte ACC[2];
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// 腿部高度逻辑
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// #define LEG_HEIGHT_BASE 20 # 固定值
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// float LegHeightDiff ; # 根据前后转向运动时，智能计算两腿高度差
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// left_height，right_height = wrobot.height + LegHeightDiff # 根据前后左右智能计算两腿高度差
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// leg_position_add = pid_roll_angle(lpf_roll(roll_angle)); 根据roll自动计算
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// Position[0] 2047 + 12 + 8.4 * (left_height - LEG_HEIGHT_BASE) - leg_position_add;
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// Position[1] 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add;
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// Position 2047 - 12 - 8.4 * (right_height - LEG_HEIGHT_BASE) - leg_position_add;
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// Position 2047 - 12 - 8.4 * (wrobot.height + LegHeightDiff - LEG_HEIGHT_BASE) - pid_roll_angle(lpf_roll(roll_angle));
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// 遥控器 两腿高度差 固定值 roll轴平衡控制量
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// LQR自平衡控制器参数
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float LQR_angle = 0;
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float LQR_gyro = 0;
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float LQR_gyroZ = 0;
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float LQR_speed = 0;
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float LQR_distance = 0;
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float angle_control = 0;
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float gyro_control = 0;
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float speed_control = 0;
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float distance_control = 0;
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float LQR_u = 0;
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float angle_zeropoint = 8; // 5 设定默认俯仰角度，向前到正，向后倒负
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float original_angle_zeropoint = 8; // 保存原始的角度零点
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float distance_zeropoint = 0.5f; // 轮部位移零点偏置
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// YAW轴控制数据
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float YAW_gyro = 0;
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float YAW_angle = 0;
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float YAW_angle_last = 0;
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float YAW_angle_total = 0;
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float YAW_angle_zero_point = -10;
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float YAW_output = 0;
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// 记录轮部转速，用于判断跳跃状态
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unsigned long last_speed_record_time = 0; // 上次记录转速的时间
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const unsigned long SPEED_RECORD_INTERVAL = 100; // 转速记录间隔(毫秒) ，因为时间相隔太近速度差不明显的
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float last_lqr_speed = 0; // 记录上一时刻的轮部转速
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float robot_speed_diff = 0; // 速度差
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int jump_flag = 0; // 跳跃过程计数
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int jump_pre_flag = 0; // 跳跃前蓄能计数
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int wheel_ground_flag = 1; // 轮子是否离地标记 默认着地
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// 电压检测
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#define LED_BAT 13
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uint16_t bat_check_num = 0;
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int BAT_PIN = 35; // select the input pin for the ADC
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static esp_adc_cal_characteristics_t adc_chars;
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static const adc1_channel_t channel = ADC1_CHANNEL_7;
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static const adc_bits_width_t width = ADC_WIDTH_BIT_12;
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static const adc_atten_t atten = ADC_ATTEN_DB_12;
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static const adc_unit_t unit = ADC_UNIT_1;
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// 倒地起来辅助计数
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int loopCounter = 0; // loop函数执行计数
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int resetToDefaultCounter = 0; // resetToDefault执行计数
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// 小车状态控制
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bool robot_enabled = true; // 小车使能状态，true为起立状态，false为坐下状态
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bool last_robot_enabled = true; // 记录上一次的小车状态
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int sitting_down = 0; // 标记是否正在执行坐下动作
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typedef struct
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{
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int mode = 0; // 0:左摇杆左右转向控制（智能），1:左摇杆上下摇摆控制（手动）
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int height = 30;
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int roll;
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int jump = 0; // 0 =不跳跃 1= 跳跃
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int joyy;
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int joyy_last;
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int joyx;
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int joyx_last;
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} Wrobot;
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Wrobot wrobot;
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typedef struct {
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// 4个摇杆轴（模拟值：-100 到 100 ）
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int joyLeftX; // 左摇杆X轴（左-右，0-940 ，中心默认：423 ）
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int joyLeftY; // 左摇杆Y轴（上-下，940-0 ，中心默认：425 ）
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int joyRightX; // 右摇杆X轴（左-右，0-960：中心默认：487 ）
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int joyRightY; // 右摇杆Y轴（上-下，1080-0，中心默认：525 ）
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bool btnJoyLeft; // 左摇杆按压键 1=按下，0=未按下
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bool btnJoyRight; // 右摇杆按压键
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bool btnStart; // Start键
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bool btnBack; // Back键
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bool btnUp; // 方向上键
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bool btnDown; // 方向下键
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bool btnLeft; // 方向左键
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bool btnRight; // 方向右键
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bool btnA; // A键
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bool btnB; // B键
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bool btnX; // X键
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bool btnY; // Y键
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} JoystickData;
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JoystickData remoteData;
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const int deadZone = 10;
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bool last_btnJoyRight = 0;
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// ESP-NOW接收回调函数
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void OnDataRecv(const uint8_t *mac, const uint8_t *incomingData, int len) {
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memcpy(&remoteData, incomingData, sizeof(remoteData));
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// rgb led 上键 闪烁6次：红红黄黄绿绿
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if(remoteData.btnUp && !isBlinking){
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isBlinking = true;
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blinkCount = 0;
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blinkState = 0;
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previousBlinkMillis = millis();
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}
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// 坐下 back键
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if (remoteData.btnBack && robot_enabled) {
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robot_enabled = false;
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sitting_down = 1; // 标记开始坐下动作保存当前的角度零点
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}
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// 起立 start键
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if (remoteData.btnStart && !robot_enabled) {
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robot_enabled = true;
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sitting_down = 0; // 清除坐下动作标记
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}
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// 修改后代码（保留摇杆指令，仅禁止起升/跳跃）
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if (!robot_enabled || sitting_down) {
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wrobot.jump = 0; // 禁止跳跃
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wrobot.roll = 0; // 禁止左右摇摆（起升相关）
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wrobot.height = 0; // 禁止高度调整（起升相关）
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}
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// 跳跃状态不接受指令
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if( jump_flag > 0){
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wrobot.jump = 0; // 强制设为“不跳跃”
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wrobot.joyx = 0; // 清空左右转向指令
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wrobot.joyy = 0; // 清空前后移动指令
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wrobot.roll = 0; // 清空左右摇摆指令
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return;
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}
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// 4个摇杆轴 输出范围
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// int joyLeftX; // 左-右，0-930（有偏移，实际范围0-900） ，映射到 -100 到 100，中心默认：0
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// int joyLeftY; // 上-下，940-0 ，中心默认：425，映射到 60 到 0，中心默认：30
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// int joyRightX; // 左-右，0-960：中心默认：487，中心默认：423 ，映射到 -30 到 30，中心默认：0
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// int joyRightY; // 上-下，1080-0，中心默认：525，映射到 100 到 -100，中心默认：0
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// 前后移动 右摇杆Y轴：原始1080-0 → 目标100到-100
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int convertedJ2PotY = constrain(
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map(remoteData.joyRightY, 1080, 0, 100, -100), // 原始1080-0，目标100~-100
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-100, 100
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);
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if(abs(convertedJ2PotY) > deadZone) { // 前后运动 -100 到 100
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wrobot.joyy = convertedJ2PotY;
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}else{
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wrobot.joyy = 0;
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}
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if(wrobot.mode == 0) // 智能模式
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{
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// 左右转向 左摇杆X轴：先映射到-100~100，再按比例放大到-100~100
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int convertedJ1PotX = constrain(
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map(remoteData.joyLeftX, 0, 900, -100, 100),
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-100, 100
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);
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if(abs(convertedJ1PotX) > deadZone) { // 左右运动 -100 到 100
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wrobot.joyx = convertedJ1PotX;
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} else {
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wrobot.joyx = 0;
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}
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// 智能计算wrobot.height ，根据前后速度，
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// convertedJ2PotY 范围-100到100，默认0，输出范围30（最矮）-50（最高）, 默认 50
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wrobot.height = map( abs(convertedJ2PotY), 0, 100, 50, 30);
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wrobot.height = constrain(wrobot.height, 30, 50);
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wrobot.height = lpf_height(wrobot.height);
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}
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else if(wrobot.mode == 1) // 手动模式
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{
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// 摇摆角度 左摇杆X轴，先映射到-60~60，再按比例放大到-100~100
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int convertedJ1PotX = constrain(
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map(remoteData.joyLeftX, 0, 900, -60, 60) * (100.0/60), // 先映射到-30~30，再按比例放大到-100~100
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-100, 100
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);
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if(abs(convertedJ1PotX) > deadZone) {
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roll_adjust = convertedJ1PotX;
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}else{
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roll_adjust = 0;
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}
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// 上下高度 左摇杆Y轴：原始940-0 → 目标MAX到MIN
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int convertedJ1PotY = constrain(
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map(remoteData.joyLeftY, 940, 0, 100, -100), // 原始范围940-0，目标范围100到-100，默认中间0
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-100, 100
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);
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wrobot.height = map( convertedJ1PotY, -100, 100, 30, 70);
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wrobot.height = constrain(wrobot.height, 30, 70);
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wrobot.height = lpf_height(wrobot.height);
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// 左右转向 右摇杆X轴：原始0-960 → 目标-100到100
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int convertedJ2PotX = constrain(
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map(remoteData.joyRightX, 0, 960, -100, 100), // 先映射到-30~30，再按比例放大到-100~100
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-100, 100
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);
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if(abs(convertedJ2PotX) > deadZone) {
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wrobot.joyx = convertedJ2PotX;
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}else{
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wrobot.joyx = 0;
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}
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}
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// 跳跃 右摇杆按键
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if (remoteData.btnJoyRight && !last_btnJoyRight) { // 1=true，0=false
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wrobot.jump = 1; // 跳跃
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}else{
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wrobot.jump = 0; // 不跳跃
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}
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last_btnJoyRight = remoteData.btnJoyRight;
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// 切换智能模式和手动模式
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if (remoteData.btnY) { // 1:左摇杆上下摇摆控制（手动）
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wrobot.mode = 1;
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}
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if (remoteData.btnA) { // 0:左摇杆左右转向控制（智能）
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wrobot.mode = 0;
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roll_adjust = 0.0f;
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leg_height_base = 20.0f;
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}
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}
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void setup()
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{
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Serial.begin(115200); // 通讯串口
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Serial2.begin(1000000); // 腿部sts舵机
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// 设置WiFi通道为6，为了适配遥控器模式
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WiFi.mode(WIFI_STA); // 设置为STA模式
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esp_wifi_set_channel(6, WIFI_SECOND_CHAN_NONE);
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// 初始化ESP-NOW
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if (esp_now_init() != ESP_OK) {
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Serial.println("Error initializing ESP-NOW");
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return;
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}
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esp_now_register_recv_cb(OnDataRecv);
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// 舵机初始化
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sms_sts.pSerial = &Serial2;
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ID[0] = 1;
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ID[1] = 2;
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ACC[0] = 30;
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ACC[1] = 30;
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Speed[0] = 400;
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Speed[1] = 400;
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Position[0] = SERVO0_MIN;
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Position[1] = SERVO1_MIN;
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// 舵机(ID1/ID2)以速度V=2400步/秒，加速度A=50(50*100步/秒^2)，运行至各自的Position位置
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sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
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// 电压检测
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adc_calibration_init();
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adc1_config_width(width);
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adc1_config_channel_atten(channel, atten);
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esp_adc_cal_characterize(unit, atten, width, 0, &adc_chars);
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// 电量显示LED
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pinMode(LED_BAT, OUTPUT);
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// 编码器设置
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I2Cone.begin(19, 18, 400000UL);
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I2Ctwo.begin(23, 5, 400000UL);
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sensor1.init(&I2Cone);
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sensor2.init(&I2Ctwo);
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// mpu6050设置
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mpu6050.begin();
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mpu6050.calcGyroOffsets(true);
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// 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();
|
||
|
||
// FastLED初始化
|
||
FastLED.addLeds<WS2812, RGB_PIN, GRB>(leds, NUM_LEDS);
|
||
FastLED.setBrightness(50); // 设置亮度
|
||
fill_solid(leds, NUM_LEDS, CRGB::Black); // 初始化为熄灭
|
||
FastLED.show();
|
||
|
||
delay(500);
|
||
}
|
||
|
||
void loop()
|
||
{
|
||
|
||
// 处理LED闪烁
|
||
// handleLEDBlink();
|
||
|
||
|
||
bat_check(); // 电压检测
|
||
delayMicroseconds(1500);
|
||
mpu6050.update(); // IMU数据更新
|
||
lqr_balance_loop(); // lqr自平衡控制
|
||
yaw_loop(); // yaw轴转向控制
|
||
jump_loop(); // 跳跃动作
|
||
leg_loop(); // 腿部动作控制
|
||
|
||
// 记录上一次的遥控数据数据
|
||
wrobot.joyx_last = wrobot.joyx;
|
||
wrobot.joyy_last = wrobot.joyy;
|
||
|
||
motor1.target = (-0.5) * (LQR_u + YAW_output); // target正数小车向前，负数向后
|
||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||
|
||
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
|
||
// resetToDefaultCounter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) {
|
||
resetZeroPoint();
|
||
resetToDefaultCounter++;
|
||
motor1.target = 0;
|
||
motor2.target = 0;
|
||
}
|
||
|
||
// 大仰角到底，轮子就不要转了 修改
|
||
if (abs(LQR_angle) > 120.0f) {
|
||
motor1.target = 0;
|
||
motor2.target = 0;
|
||
}
|
||
|
||
// 达到平衡角度后，重置重置计数器
|
||
if( abs(LQR_angle) < 25.0f){
|
||
resetToDefaultCounter = 0;
|
||
}
|
||
|
||
|
||
// 小车坐下
|
||
if (sitting_down) {
|
||
sitting_down ++;
|
||
|
||
if (sitting_down < 15) {
|
||
// 如果遥感向后运动，给个向后退脉冲，让小车向前倒地
|
||
if(wrobot.joyy < 0){
|
||
motor1.target = -1.0; // 负数小车向后，正数向前
|
||
motor2.target = -1.0;
|
||
Position[0] = SERVO0_MIN; // 修改
|
||
Position[1] = SERVO1_MIN;
|
||
} else { // 否则默认向前倒地 给个向前脉冲
|
||
motor1.target = 1.0; // 负数小车向后，正数向前
|
||
motor2.target = 1.0;
|
||
Position[0] = SERVO0_MIN + 60; // 修改
|
||
Position[1] = SERVO1_MIN - 60;
|
||
|
||
}
|
||
}else{
|
||
|
||
// 通过简单的开环控制前后左右
|
||
float speed_coeff = 0.02; // 速度系数：值越大，移动越快（建议0.01~0.02）
|
||
motor1.target = (-0.5) * (wrobot.joyy + wrobot.joyx) * speed_coeff;
|
||
motor2.target = (-0.5) * (wrobot.joyy - wrobot.joyx) * speed_coeff;
|
||
|
||
}
|
||
|
||
// 收缩双腿，舵机到最低位置
|
||
if (sitting_down == 5) {
|
||
ACC[0] = ACC[1] = 100;
|
||
Speed[0] = Speed[1] = 200;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
}
|
||
|
||
}
|
||
|
||
// 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()
|
||
{
|
||
/*
|
||
motor.target 负数小车向后，正数小车向前
|
||
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
|
||
= 俯仰角度控制 + 俯仰角速度控制 + 距离控制 + 速度控制
|
||
|
||
angle_control = pid_angle( LQR_angle - angle_zeropoint) // 实际pitch角度-目标pitch角度
|
||
LQR_angle = mpu6050.getAngleY()
|
||
|
||
gyro_control = pid_gyro( LQR_gyro - 0 ) // 实际角速度，目标值是零
|
||
LQR_gyro = mpu6050.getGyroY()
|
||
|
||
distance_control = pid_distance( LQR_distance - distance_zeropoint) // 两个电机平均旋转弧度（实际位移量） - 位移基准零点（某一时刻LQR_distance快照）
|
||
LQR_distance = (-0.5)*(motor1.shaft_angle + motor2.shaft_angle)
|
||
|
||
speed_control = pid_speed(LQR_speed - speed_target_coeff * lpf_joyy(wrobot.joyy)) // 两个电机平均速度（实际速度） - 摇杆前后输入值* 系数 ，就速度差
|
||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity)
|
||
speed_target_coeff = 前进后退系数
|
||
yaw 偏航角控制
|
||
float yaw_angle_control = pid_yaw_angle(yaw_target);
|
||
yaw_target = wrobot.joyx * 0.1; // 使用摇杆左右转向值
|
||
|
||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro); // yaw 轴的角速度控制
|
||
YAW_gyro = (float)mpu6050.getGyroZ();
|
||
|
||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||
|
||
motor1.target = (-0.5) * (LQR_u + YAW_output); // target正数小车向前，负数向后
|
||
motor2.target = (-0.5) * (LQR_u - YAW_output);
|
||
|
||
*/
|
||
|
||
LQR_distance = (-0.5) * (motor1.shaft_angle + motor2.shaft_angle); // 两个电机的旋转角度（shaft_angle）,单位：弧度（rad）实际位移量
|
||
LQR_speed = (-0.5) * (motor1.shaft_velocity + motor2.shaft_velocity); // 两个电机角速度（shaft_velocity）,单位：弧度 / 秒（rad/s）
|
||
LQR_angle = (float)mpu6050.getAngleY(); // mpu6050 pitch 角度，单位：度（°）
|
||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch Y轴角速度,单位：度 / 秒（°/s）
|
||
|
||
angle_control = pid_angle(LQR_angle - angle_zeropoint);
|
||
gyro_control = pid_gyro(LQR_gyro);
|
||
|
||
// 前进后退跳跃的系数都不一样
|
||
float speed_target_coeff = 0.1;
|
||
if( jump_flag ){ // 跳跃
|
||
speed_target_coeff = 0.1;
|
||
}else if(wrobot.joyy > 0 ){ // 前进
|
||
speed_target_coeff = 0.18;
|
||
}else if(wrobot.joyy < 0){ // 后退
|
||
speed_target_coeff = 0.11;
|
||
}else{
|
||
speed_target_coeff = 0.1;
|
||
}
|
||
|
||
speed_control = pid_speed(LQR_speed - speed_target_coeff * lpf_joyy(wrobot.joyy)); // 最大8v
|
||
|
||
// 检测轮子差速，判断轮子是否离地
|
||
unsigned long current_time = millis();
|
||
if (current_time - last_speed_record_time >= SPEED_RECORD_INTERVAL) {
|
||
robot_speed_diff = LQR_speed - last_lqr_speed;
|
||
|
||
if(robot_speed_diff > 18.0) // 轮子离地
|
||
{
|
||
wheel_ground_flag = 0; // 轮子离地标记
|
||
// Serial.print("TAKE OFF");
|
||
// Serial.print(wheel_ground_flag);
|
||
// Serial.print(",robot_speed_diff:");
|
||
// Serial.print(robot_speed_diff);
|
||
// Serial.print(",jump_flag:");
|
||
// Serial.println(jump_flag); // 100 左右
|
||
}
|
||
if( robot_speed_diff < -9.0) // 轮子着地
|
||
{
|
||
wheel_ground_flag = 1; // 轮子着地标记
|
||
// Serial.print("LANDING:");
|
||
// Serial.print(",robot_speed_diff:");
|
||
// Serial.print(robot_speed_diff);
|
||
// Serial.print(",jump_flag:");
|
||
// Serial.println(jump_flag); // 120左右
|
||
|
||
if( jump_flag ){ // 落地点作为新的位移零点
|
||
resetZeroPoint();
|
||
}
|
||
}
|
||
last_lqr_speed = LQR_speed; // 每隔100ms更新一次历史转速
|
||
last_speed_record_time = current_time; // 更新记录时间
|
||
}
|
||
|
||
// 重置位移零点和积分情形
|
||
// 1.判断摇杆是否没有前后左右运动指令
|
||
if ((wrobot.joyx_last != 0 && wrobot.joyx == 0) || (wrobot.joyy_last != 0 && wrobot.joyy == 0))
|
||
{
|
||
resetZeroPoint();
|
||
}
|
||
|
||
// 2. 运动中实时重置位移零点和积分情形
|
||
if (abs(robot_speed_diff) > 10 || (abs(LQR_speed) > 15) // 这两种是启动后自平衡，速度较快
|
||
|| wrobot.joyy != 0 || sitting_down )
|
||
{
|
||
resetZeroPoint();
|
||
}
|
||
|
||
distance_control = pid_distance(LQR_distance - distance_zeropoint);
|
||
|
||
// 计算 LQR_u
|
||
// 必须是在跳跃时jump_flag > 0，LQR_u= 角度控制量 + 角速度控制量
|
||
if ((jump_flag > 0 and jump_flag < 120)) // jump_flag：100离地 120着地
|
||
{
|
||
LQR_u = angle_control + gyro_control; // 角度控制量 + 角速度控制，位移和速度控制分量被忽略
|
||
}
|
||
else // 当轮部未离地时，LQR_u：4个参数
|
||
{
|
||
// 当轮部未离地时，LQR_u =角度控制量+角速度控制量+位移控制量+速度控制量
|
||
LQR_u = angle_control + gyro_control + distance_control + speed_control;
|
||
}
|
||
|
||
// 小车没有控制的时候自稳定状态
|
||
// 控制量lqr_u<5V，前进后退控制量很小， 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,以及不是坐下状态
|
||
if (abs(LQR_u) < 5 && wrobot.joyy == 0 && abs(distance_control) < 4 && (jump_flag == 0)) // && !sitting_down
|
||
{
|
||
LQR_u = pid_lqr_u(LQR_u); // 小转矩非线性补偿
|
||
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()
|
||
{
|
||
// 如果坐下就不控制腿部
|
||
if(sitting_down || jump_flag || jump_pre_flag ){
|
||
return; // 跳过后续leg高度计算
|
||
}
|
||
|
||
// 机身大角度，譬如倒地时，强制腿部收缩
|
||
if (abs(LQR_angle) > 25.0f)
|
||
{
|
||
ACC[0] = ACC[1] = 100;
|
||
Speed[0] = Speed[1] = 400;
|
||
Position[0] = SERVO0_MIN;
|
||
Position[1] = SERVO1_MIN;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
return; // 跳过后续leg高度计算
|
||
}
|
||
|
||
ACC[0] = ACC[1] = 100; // max 230
|
||
Speed[0] = Speed[1] = 400;
|
||
|
||
float roll_angle = (float)mpu6050.getAngleX() + roll_adjust; // 加上roll角度偏差
|
||
leg_position_add = pid_roll_angle(lpf_roll(roll_angle));
|
||
|
||
// 左后腿默认等于 wrobot.height
|
||
left_height = wrobot.height;
|
||
right_height = wrobot.height;
|
||
LegHeightDiff = 0; // 初始化 roll 角度补偿值
|
||
|
||
// 智能计算左右脚高度差， 如果同时有转向和前后指令 ，自动计算腿部高度补偿
|
||
if(wrobot.mode == 0){
|
||
if (abs(wrobot.joyx) > 10 && abs(wrobot.joyy) > 10)
|
||
{
|
||
LegHeightDiff = map(abs(wrobot.joyy), 0, 100, 0, 10);
|
||
leg_position_add = 0; // 不需要两个脚一样高
|
||
}
|
||
if (wrobot.joyx > 10 && abs(wrobot.joyy) > 10)
|
||
{
|
||
// 左脚抬高
|
||
left_height = wrobot.height + LegHeightDiff ;
|
||
// Serial.print("左脚抬高");
|
||
}
|
||
else if (wrobot.joyx < -10 && abs(wrobot.joyy) > 10)
|
||
{
|
||
// 右脚抬高
|
||
right_height = wrobot.height + LegHeightDiff;
|
||
// Serial.print("右脚抬高");
|
||
}
|
||
}
|
||
|
||
// 根据新的高度计算舵机位置
|
||
// id[0] 正面看右手，id[1] 正面看左手
|
||
// 2047是舵机中间位置，8.4是系数，32是默认高度，最高80，最低32
|
||
// const int LEG_HEIGHT_BASE 这值越小，机身越高，实测范围 0（最高），52（最低）
|
||
Position[0] = 2047 + 8.4 * (left_height - leg_height_base ) - leg_position_add;
|
||
Position[1] = 2047 - 8.4 * (right_height - leg_height_base ) - leg_position_add;
|
||
|
||
// Serial.print("roll_angle:");
|
||
// Serial.print(roll_angle);
|
||
// Serial.print(",Position[0]:");
|
||
// Serial.print(Position[0]);
|
||
// Serial.print(",Position[1]:");
|
||
// Serial.println(Position[1]);
|
||
|
||
// 限制舵机位置范围
|
||
if (Position[0] < SERVO0_MIN) // 舵机1最低
|
||
Position[0] = SERVO0_MIN;
|
||
else if (Position[0] > SERVO0_MAX) // 舵机1最高
|
||
Position[0] = SERVO0_MAX;
|
||
|
||
if (Position[1] > SERVO1_MIN) // 舵机2最低（和舵机1方向是反的）
|
||
Position[1] = SERVO1_MIN;
|
||
else if (Position[1] < SERVO1_MAX) // 舵机2最高
|
||
Position[1] = SERVO1_MAX;
|
||
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
|
||
}
|
||
|
||
// 收缩小腿蓄能
|
||
void jump_charge() // 腿部弯曲（蓄能）
|
||
{
|
||
ACC[0] = 250;
|
||
ACC[1] = 250;
|
||
Speed[0] = 400;
|
||
Speed[1] = 400;
|
||
Position[0] = (SERVO0_MIN + 80); // 不能是SERVO1_MIN值，防止腿部碰撞
|
||
Position[1] = (SERVO1_MIN - 80);
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
}
|
||
|
||
// 跳跃控制
|
||
void jump_loop()
|
||
{
|
||
if ((wrobot.jump == 1) && (jump_pre_flag == 0))
|
||
{
|
||
jump_charge();
|
||
jump_pre_flag = 1;
|
||
}
|
||
|
||
if(jump_pre_flag > 0 ){
|
||
jump_pre_flag ++;
|
||
}
|
||
|
||
if(jump_pre_flag){
|
||
if(!sms_sts.ReadMove(ID[0]) && !sms_sts.ReadMove(ID[1])){
|
||
jump_flag = 1;
|
||
jump_pre_flag = 0;
|
||
|
||
// 跳跃开始
|
||
ACC[0] = 0;
|
||
ACC[1] = 0;
|
||
Speed[0] = 0;
|
||
Speed[1] = 0;
|
||
Position[0] = SERVO0_MAX + 20; // 极限距离
|
||
Position[1] = SERVO1_MAX - 20;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
}
|
||
}
|
||
|
||
if (jump_flag > 0) // 跳跃计数;
|
||
{
|
||
jump_flag ++;
|
||
}
|
||
|
||
// 跳跃中，腿部缩起来
|
||
if( (jump_flag > 30) && (jump_flag < 35) )
|
||
{
|
||
ACC[0] = 0;
|
||
ACC[1] = 0;
|
||
Speed[0] = 0;
|
||
Speed[1] = 0;
|
||
Position[0] = (SERVO0_MIN + 100); // 100 约等于食指宽度
|
||
Position[1] = (SERVO1_MIN - 100);
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
}
|
||
|
||
// 轮子着地
|
||
if (jump_flag > 200) // 2000=6s ,1s=2000/6=333.33
|
||
{
|
||
jump_flag = 0; // 跳跃过程结束
|
||
}
|
||
|
||
}
|
||
|
||
// yaw轴转向控制 （转向控制）
|
||
void yaw_loop()
|
||
{
|
||
// 跳跃中，YAW_output 设为0，避免干扰左右旋转
|
||
if(jump_flag)
|
||
{
|
||
YAW_output = 0;
|
||
return;
|
||
}
|
||
|
||
// 1. 根据abs(wrobot.joyx)，动态设置yaw_target系数
|
||
float coeff = map( abs(wrobot.joyx), 0, 100, 10, 100) / 100.0f;
|
||
coeff = constrain(coeff, 0.1f, 1.0f);
|
||
float yaw_target = wrobot.joyx * coeff;
|
||
|
||
// 2. 根据abs(wrobot.joyx)，提高PID响应：临时放大yaw_angle_control（核心突破上限）
|
||
float yaw_angle_control_coeff = 1.0f;
|
||
if( wrobot.joyy == 0 && abs(wrobot.joyx) > 10){ // 原地打转
|
||
yaw_angle_control_coeff = map( abs(wrobot.joyx), 0, 100, 1.0, 2.0);
|
||
// 根据转向速度，智能计算wrobot.height
|
||
// abs(wrobot.joyx) 范围0到100，默认0，输出范围20-50,默认 30
|
||
// 反向映射：绝对值30→60，绝对值100→0（线性过渡）
|
||
wrobot.height = map(abs(wrobot.joyx), 0, 100, 50, 30);
|
||
// 强制约束输出在0~60范围内（防止异常值）
|
||
wrobot.height = constrain(wrobot.height, 30, 50);
|
||
// 使用低波过滤器，平滑数据
|
||
wrobot.height = lpf_height(wrobot.height);
|
||
|
||
// 增加rgb效果
|
||
if(abs(wrobot.joyx) > 60){
|
||
handleLEDBlink();
|
||
}
|
||
}
|
||
|
||
float yaw_angle_control = pid_yaw_angle(yaw_target) * yaw_angle_control_coeff;
|
||
// 限制yaw_angle_control上限，避免超压（按电机7.4V反推，设为12较合适）
|
||
yaw_angle_control = constrain(yaw_angle_control, -12.0f, 12.0f);
|
||
|
||
YAW_gyro = (float)mpu6050.getGyroZ(); // 左右偏航角速度，用于纠正小车前后走直线时的角度偏差
|
||
float yaw_gyro_control = pid_yaw_gyro(YAW_gyro);
|
||
YAW_output = yaw_angle_control + yaw_gyro_control;
|
||
}
|
||
|
||
// 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++;
|
||
}
|
||
|
||
// 重置距离零点
|
||
void resetZeroPoint() {
|
||
distance_zeropoint = LQR_distance;
|
||
pid_lqr_u.error_prev = 0;
|
||
}
|
||
|
||
// 添加LED闪烁处理函数
|
||
void handleLEDBlink() {
|
||
if (!isBlinking) return;
|
||
|
||
unsigned long currentMillis = millis();
|
||
|
||
if (currentMillis - previousBlinkMillis >= 100) { // 每100ms切换一次状态，实现快速闪烁
|
||
previousBlinkMillis = currentMillis;
|
||
|
||
if (blinkState == 0) {
|
||
// LED亮
|
||
fill_solid(leds, NUM_LEDS, blinkColors[blinkCount]);
|
||
FastLED.show();
|
||
blinkState = 1;
|
||
} else {
|
||
// LED灭
|
||
fill_solid(leds, NUM_LEDS, CRGB::Black);
|
||
FastLED.show();
|
||
blinkState = 0;
|
||
blinkCount++;
|
||
|
||
// 检查是否完成6次闪烁
|
||
if (blinkCount >= 6) {
|
||
isBlinking = false;
|
||
blinkCount = 0;
|
||
// 闪烁完成后保持熄灭状态
|
||
fill_solid(leds, NUM_LEDS, CRGB::Black);
|
||
FastLED.show();
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|