1096 lines
36 KiB
C++
1096 lines
36 KiB
C++
/* ---------------------------------
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Copyright (c) 2024 Mu Shibo
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Modify by Tommy 2025
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------------------------------------- */
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#include <Arduino.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 "RGBController.h" // RGB
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#include "VoltageMonitor.h" // 电源
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#include "XboxBluetooth.h" // 蓝牙手柄
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#include "RobotActions.h" // 动作处理
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/************函数申明*************/
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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 obstacle_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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// 动作处理函数
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void processControllerData(const XboxControllerNotificationParser& data);
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void runActionSequence();
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// 障碍检测函数
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void detectObstacle();
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const int deadZone = 10; // 摇杆死区阈值
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bool last_btnA = 0;
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bool last_btnB = 0;
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bool last_btnX = 0;
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bool last_btnY = 0;
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bool last_btnRS = 0;
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bool last_btnLS = 0;
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bool last_btnLB = 0;
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bool last_btnRB = 0;
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bool last_btnDirRight = 0;
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bool last_btnDirLeft = 0;
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bool last_btnDirUp = 0;
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bool last_btnDirDown = 0;
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bool last_btnSelect = 0;
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bool last_btnStart = 0;
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bool last_btnShare = 0;
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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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/************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 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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#define SERVO0_ACC 100 // 舵机1加速度，不能太快，否则影响其他动作平衡
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#define SERVO1_ACC 100 // 舵机2加速度
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#define SERVO0_SPEED 400 // 舵机1速度，不能太快，否则影响其他动作平衡
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#define SERVO1_SPEED 400 // 舵机2速度
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int left_height;
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int right_height;
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float leg_position_add = 0; // roll轴平衡控制量
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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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int last_servo_load = 0; // 上一时刻的舵机2负载
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unsigned long last_servo_sample_time = 0; // 上一次负载采样时间
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const unsigned long SERVO_SAMPLE_INTERVAL = 300; // 负载采样间隔（500毫秒）
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// 腿部高度逻辑
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// float leg_height_base 20 # 基准值
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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 基准值 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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// float pitch_adjust = 0.0f; // 俯仰角度调整
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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 forward_jump_flag = 0; // 前跳跃标志位
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int back_jump_flag = 0; // 后跳跃标志位
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int left_jump_flag = 0; // 左跳跃标志位
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int right_jump_flag = 0; // 右跳跃标志位
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int wheel_ground_flag = 1; // 轮子是否离地标记 默认离地
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// 倒地恢复计数
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int fallRecoveryResetCounter = 0;
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// 快速下坠检测相关参数
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bool is_falling = false; // 快速下坠状态标志
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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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// 开机默认坐下 修改
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bool robot_enabled = false; // 开机禁用平衡，默认坐下
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bool last_robot_enabled = false; // 同步初始状态
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int sitting_down = 1; // 开机直接进入“坐下状态”，避免无控制
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int stand_up_count = 0; // 站立标志位
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// 动作组执行状态管理
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bool isExecutingAction = false;
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bool isPausing = false;
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unsigned long currentPauseDuration = 0;
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unsigned long stepStartTime = 0;
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unsigned long pauseStartTime = 0;
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int currentStepIndex = 0;
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RobotAction* currentAction = NULL;
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typedef struct
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{
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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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int acc0 = SERVO0_ACC; // 舵机1加速度
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int acc1 = SERVO1_ACC; // 舵机2加速度
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int speed0 = SERVO0_SPEED; // 舵机1速度
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int speed1 = SERVO1_SPEED; // 舵机2速度
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} Wrobot;
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Wrobot wrobot;
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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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// 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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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
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motor1.linkSensor(&sensor1);
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motor2.linkSensor(&sensor2);
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// 速度环PID参数
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motor1.PID_velocity.P = 0.05;
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motor1.PID_velocity.I = 1;
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motor1.PID_velocity.D = 0;
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motor2.PID_velocity.P = 0.05;
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motor2.PID_velocity.I = 1;
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motor2.PID_velocity.D = 0;
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// 驱动器设置
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motor1.voltage_sensor_align = 6;
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motor2.voltage_sensor_align = 6;
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driver1.voltage_power_supply = 8;
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driver2.voltage_power_supply = 8;
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driver1.init();
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driver2.init();
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// 连接motor对象与驱动器对象
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motor1.linkDriver(&driver1);
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motor2.linkDriver(&driver2);
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motor1.torque_controller = TorqueControlType::voltage; // 扭矩控制器类型为 "电压模式"
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motor2.torque_controller = TorqueControlType::voltage;
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motor1.controller = MotionControlType::torque; // 运动控制器类型为 "扭矩模式"
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motor2.controller = MotionControlType::torque;
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// monitor相关设置
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motor1.useMonitoring(Serial);
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motor2.useMonitoring(Serial);
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// 电机初始化
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motor1.init();
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motor1.initFOC();
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motor2.init();
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motor2.initFOC();
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// RGB初始化
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initLEDs();
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// Xbox手柄初始化
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xboxControllerInit();
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delay(500);
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}
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void loop()
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{
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handleLEDBlink(); // 处理LED闪烁
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process_xbox_notif(); // 处理xbox手柄通知
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updateXboxVibration(); // 手柄震动状态
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bat_check(); // 电压检测
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delayMicroseconds(1500);
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mpu6050.update(); // IMU数据更新
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lqr_balance_loop(); // lqr自平衡控制
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yaw_loop(); // yaw轴转向控制
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jump_loop(); // 跳跃动作
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leg_loop(); // 腿部动作控制
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runActionSequence(); // 执行动作序列
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// 记录上一次的遥控数据数据
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wrobot.joyx_last = wrobot.joyx;
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wrobot.joyy_last = wrobot.joyy;
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motor1.target = (-0.5) * (LQR_u + YAW_output); // target正数小车向前，负数向后
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motor2.target = (-0.5) * (LQR_u - YAW_output);
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// fallRecoveryResetCounter作用：防止小车倒地后某个角度，陷入循环，motor.target一直=0
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// 向后倒地-31度，向前倒地（带支架）52度
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if ( (
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(LQR_angle < -30.0f && fallRecoveryResetCounter < 130) // 向后倒地
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|| (LQR_angle > 35.0f && fallRecoveryResetCounter < 400) // 向前倒底 实测角度小于52度，并且完全倒地耗时较长
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)
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&& !sitting_down && robot_enabled && wrobot.joyy == 0 ) {
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resetZeroPoint();
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fallRecoveryResetCounter++;
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motor1.target = 0;
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motor2.target = 0;
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}
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// 大仰角到底，轮子就不要转了 修改
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if (abs(LQR_angle) > 120.0f) {
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motor1.target = 0;
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motor2.target = 0;
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}
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// 达到平衡角度后，重置重置计数器
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if( abs(LQR_angle) < 25.0f){
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fallRecoveryResetCounter = 0;
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stand_up_count = 0;
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}
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// Serial.println(String(LQR_angle));
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// 向左跳跃
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if ( left_jump_flag > 2) {
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motor1.target = 5.0; // 脉冲
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motor2.target = -5.0;
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}
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// 向右跳跃
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if ( right_jump_flag > 2) {
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motor1.target = -5.0; // 脉冲
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motor2.target = 5.0;
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}
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// 向前跳跃
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if ( forward_jump_flag > 2) {
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motor1.target = 2.3; // 脉冲
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motor2.target = 2.3;
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}
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// 向后跳跃
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if ( back_jump_flag > 2 ) {
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motor1.target = -1.0; // 脉冲
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motor2.target = -1.0;
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}
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// 小车坐下
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if (sitting_down) {
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sitting_down ++;
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if (sitting_down < 15) {
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// 如果遥感向后运动，给个向后退脉冲，让小车向前倒地
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if(wrobot.joyy > 0){
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motor1.target = 1.0; // 负数小车向后，正数向前
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motor2.target = 1.0;
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Position[0] = SERVO0_MIN + 60; // 修改
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Position[1] = SERVO1_MIN - 60;
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} else { // 否则默认向后倒地 给个向后脉冲
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motor1.target = -1.0; // 负数小车向后，正数向前
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motor2.target = -1.0;
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Position[0] = SERVO0_MIN; // 修改
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Position[1] = SERVO1_MIN;
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}
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}else{
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// 通过简单的开环控制前后左右
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float speed_coeff = 0.04; // 速度系数：值越大，移动越快
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motor1.target = (-0.5) * (wrobot.joyy + wrobot.joyx) * speed_coeff;
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motor2.target = (-0.5) * (wrobot.joyy - wrobot.joyx) * speed_coeff;
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}
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// 收缩双腿，舵机到最低位置
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if (sitting_down == 5) {
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ACC[0] = ACC[1] = 100;
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Speed[0] = Speed[1] = 200;
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sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
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}
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}
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// 迭代计算FOC相电压
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motor1.loopFOC();
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motor2.loopFOC();
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// 设置轮部电机输出
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motor1.move();
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motor2.move();
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} // loop()
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||
// 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（°）
|
||
|
||
// Serial.print("LQR_angle:");
|
||
// Serial.println(LQR_angle);
|
||
|
||
LQR_gyro = (float)mpu6050.getGyroY(); // pitch Y轴角速度,单位：度 / 秒（°/s）
|
||
|
||
angle_control = pid_angle(LQR_angle - angle_zeropoint); // pitch_adjust
|
||
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.println(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.println(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();
|
||
}
|
||
if( jump_flag == 0){
|
||
XboxKeyVibration(); // 大减速运动状态手柄震动
|
||
}
|
||
}
|
||
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
|
||
|| left_jump_flag || right_jump_flag || forward_jump_flag || back_jump_flag){
|
||
return; // 跳过后续leg高度计算
|
||
}
|
||
|
||
// 1. 获取并处理MPU6050 Z轴加速度
|
||
float z_accel = mpu6050.getAccZ(); // 1.1~1.2左右
|
||
|
||
// 2. 快速下坠检测与处理
|
||
if (z_accel >1.8f && !is_falling && stand_up_count == 0) {
|
||
is_falling = true;
|
||
// 腿部收缩
|
||
ACC[0] = 250;
|
||
ACC[1] = 250;
|
||
Speed[0] = 1000;
|
||
Speed[1] = 1000;
|
||
Position[0] = SERVO0_MIN + 150;
|
||
Position[1] = SERVO1_MIN - 150;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
return; // 跳过后续正常高度计算
|
||
}
|
||
|
||
// 3. 下坠结束判断与恢复逻辑
|
||
if (is_falling) {
|
||
if (!sms_sts.ReadMove(ID[0]) && !sms_sts.ReadMove(ID[1])) {
|
||
is_falling = false;
|
||
}else{
|
||
return;
|
||
}
|
||
}
|
||
|
||
// 机身大角度倒地时，强制腿部收缩
|
||
if (abs(LQR_angle) > 25.0f)
|
||
{
|
||
// 默认舵机速度和加速度
|
||
ACC[0] = SERVO0_ACC;
|
||
ACC[1] = SERVO1_ACC;
|
||
Speed[0] = SERVO0_SPEED;
|
||
Speed[1] = SERVO1_SPEED;
|
||
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
|
||
}
|
||
|
||
// 正常腿部高度计算
|
||
ACC[0] = wrobot.acc0; // 强转为byte（舵机库要求）
|
||
ACC[1] = wrobot.acc1;
|
||
Speed[0] = wrobot.speed0; // 强转为u16（舵机库要求）
|
||
Speed[1] = wrobot.speed1;
|
||
|
||
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 (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;
|
||
|
||
// 舵机1：限制在 SERVO0_MIN（下限）~ SERVO0_MAX（上限），和原逻辑一致
|
||
Position[0] = constrain(Position[0], SERVO0_MIN, SERVO0_MAX);
|
||
// 舵机2：限制在 SERVO1_MAX（下限）~ SERVO1_MIN（上限），交换参数顺序适配反向范围
|
||
Position[1] = constrain(Position[1], SERVO1_MAX, SERVO1_MIN);
|
||
|
||
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] = 450;
|
||
Speed[1] = 450;
|
||
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 ++;
|
||
}
|
||
// 给jump_pre_flag一点余量，确保收缩小腿蓄能已经结束，且舵机停止运动了
|
||
if(jump_pre_flag > 20 && !sms_sts.ReadMove(ID[0]) && !sms_sts.ReadMove(ID[1])){
|
||
|
||
// 前后左右跳跃配合loop函数中脉冲
|
||
if( left_jump_flag ){
|
||
left_jump_flag ++ ;
|
||
|
||
if( left_jump_flag > 20 ){
|
||
left_jump_flag = 0;
|
||
}
|
||
|
||
}else if( right_jump_flag ){
|
||
right_jump_flag ++ ;
|
||
|
||
if( right_jump_flag > 20 ){
|
||
right_jump_flag = 0;
|
||
}
|
||
|
||
}else if( forward_jump_flag ){
|
||
forward_jump_flag ++ ;
|
||
|
||
if(forward_jump_flag > 20){ // 向前跳跃只有20个脉冲
|
||
forward_jump_flag = 0;
|
||
}
|
||
|
||
}else if( back_jump_flag ){
|
||
back_jump_flag ++ ;
|
||
|
||
if(back_jump_flag > 15){
|
||
back_jump_flag = 0;
|
||
}
|
||
|
||
}else{ // 跳跃开始
|
||
|
||
jump_flag = 1;
|
||
jump_pre_flag = 0;
|
||
|
||
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) > 50){
|
||
if(!isBlinking){ // 防止重复启动闪烁
|
||
isBlinking = true;
|
||
blinkCount = 0; // 重置闪烁计数
|
||
blinkState = 0; // 重置闪烁状态
|
||
previousBlinkMillis = millis(); // 重置计时
|
||
}
|
||
handleLEDBlink(); // 执行闪烁逻辑
|
||
}
|
||
}
|
||
|
||
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;
|
||
}
|
||
|
||
// 重置距离零点
|
||
void resetZeroPoint() {
|
||
distance_zeropoint = LQR_distance;
|
||
pid_lqr_u.error_prev = 0;
|
||
}
|
||
|
||
/*========================================
|
||
* 控制器数据处理（共用函数）
|
||
* ========================================*/
|
||
void processControllerData(const XboxControllerNotificationParser& remoteData) {
|
||
|
||
// String str = String(xboxController.xboxNotif.btnY) + "," + // Y键
|
||
// String(xboxController.xboxNotif.btnX) + "," + // X键
|
||
// String(xboxController.xboxNotif.btnB) + "," + // B键
|
||
// String(xboxController.xboxNotif.btnA) + "," + // A键
|
||
// String(xboxController.xboxNotif.btnLB) + "," + // 左肩键
|
||
// String(xboxController.xboxNotif.btnRB) + "," + // 右肩键
|
||
// String(xboxController.xboxNotif.btnSelect) + "," + // 中间十字 左键 试图键
|
||
// String(xboxController.xboxNotif.btnStart) + "," + // 中间十字 右键 菜单键
|
||
// String(xboxController.xboxNotif.btnXbox) + "," + // 中间十字 上键 home键
|
||
// String(xboxController.xboxNotif.btnShare) + "," + // 中间十字 下键 截图键
|
||
// String(xboxController.xboxNotif.btnLS) + "," + // 左摇杆键
|
||
// String(xboxController.xboxNotif.btnRS) + "," + // 右摇杆键
|
||
// String(xboxController.xboxNotif.btnDirUp) + "," + // 上键
|
||
// String(xboxController.xboxNotif.btnDirRight) + "," + // 右键
|
||
// String(xboxController.xboxNotif.btnDirDown) + "," + // 下键
|
||
// String(xboxController.xboxNotif.btnDirLeft) + "," + // 左键
|
||
// String(xboxController.xboxNotif.joyLHori) + "," + // 左摇杆 水平轴 （左-右 0 -65535）
|
||
// String(xboxController.xboxNotif.joyLVert) + "," + // 左摇杆 垂直轴 （上-下 0 -65535）
|
||
// String(xboxController.xboxNotif.joyRHori) + "," + // 右摇杆 水平轴 （左-右 0 -65535）
|
||
// String(xboxController.xboxNotif.joyRVert) + "," + // 右摇杆 垂直轴 （上-下 0 -65535）
|
||
// String(xboxController.xboxNotif.trigLT) + "," + // 左扳机键 （松开- 按下 0 -1023）
|
||
// String(xboxController.xboxNotif.trigRT) ; // 右扳机键 （松开- 按下 0 -1023）
|
||
// Serial.println(str);
|
||
|
||
// 正在执行动作组，忽略其他指令
|
||
if (isExecutingAction) {
|
||
return;
|
||
}
|
||
|
||
// 坐下
|
||
if (remoteData.btnLB && !last_btnLB && robot_enabled) {
|
||
robot_enabled = false;
|
||
sitting_down = 1; // 标记开始坐下动作保存当前的角度零点
|
||
}
|
||
// 第二次按坐下，让舵机失能
|
||
if (remoteData.btnLB && !last_btnLB && !robot_enabled) {
|
||
sms_sts.EnableTorque(ID[0], 0); // 第一个舵机失能 0 失能，1 使能
|
||
sms_sts.EnableTorque(ID[1], 0); // 第二个舵机失能
|
||
}
|
||
last_btnLB = remoteData.btnLB;
|
||
|
||
// 起立
|
||
if (remoteData.btnRB && !robot_enabled) {
|
||
robot_enabled = true;
|
||
sitting_down = 0; // 清除坐下动作标记
|
||
stand_up_count ++; // 站立标志位
|
||
}
|
||
last_btnRB = remoteData.btnRB;
|
||
|
||
// 修改后代码（保留摇杆指令，仅禁止起升/跳跃）
|
||
if (!robot_enabled || sitting_down) {
|
||
wrobot.jump = 0; // 禁止跳跃
|
||
wrobot.roll = 0; // 禁止左右摇摆（起升相关）
|
||
wrobot.height = 0; // 禁止高度调整（起升相关）
|
||
}
|
||
|
||
// 跳跃状态不接受指令
|
||
if( jump_flag > 0){
|
||
wrobot.jump = 0; // 强制设为“不跳跃”
|
||
wrobot.joyx = 0; // 清空左右转向指令
|
||
wrobot.joyy = 0; // 清空前后移动指令
|
||
wrobot.roll = 0; // 清空左右摇摆指令
|
||
return;
|
||
}
|
||
|
||
// 前后移动 右摇杆Y轴
|
||
int convertedJ2PotY = constrain(
|
||
map(remoteData.joyRVert, 0, 65535, 100, -100), // 原始0~65535，目标100~-100
|
||
-100, 100
|
||
);
|
||
if(abs(convertedJ2PotY) > deadZone) { // 前后运动 -100 到 100
|
||
wrobot.joyy = convertedJ2PotY;
|
||
}else{
|
||
wrobot.joyy = 0;
|
||
}
|
||
|
||
// 左右转向 左摇杆X轴：先映射到-100~100，再按比例放大到-100~100
|
||
int convertedJ1PotX = constrain(
|
||
map(remoteData.joyLHori, 0, 65535, -100, 100),
|
||
-100, 100
|
||
);
|
||
if(abs(convertedJ1PotX) > deadZone) { // 左右运动 -100 到 100
|
||
wrobot.joyx = convertedJ1PotX;
|
||
} else {
|
||
wrobot.joyx = 0;
|
||
}
|
||
|
||
// 智能计算wrobot.height ，根据前后速度，
|
||
// convertedJ2PotY 范围-100到100，默认0，输出范围30（最矮）-50（最高）, 默认 50
|
||
wrobot.height = map( abs(convertedJ2PotY), 0, 100, 50, 30);
|
||
wrobot.height = constrain(wrobot.height, 30, 50);
|
||
wrobot.height = lpf_height(wrobot.height);
|
||
|
||
// 右摇摆
|
||
if(remoteData.btnDirRight) {
|
||
roll_adjust += 0.20;
|
||
}
|
||
// 左摇摆
|
||
if(remoteData.btnDirLeft) {
|
||
roll_adjust -= 0.20;
|
||
}
|
||
|
||
// 抬升
|
||
if(remoteData.btnDirUp) {
|
||
leg_height_base -= 0.20;
|
||
}
|
||
|
||
// 下降
|
||
if(remoteData.btnDirDown) {
|
||
leg_height_base += 0.20;
|
||
}
|
||
|
||
// 还原
|
||
if (remoteData.btnLS) {
|
||
roll_adjust = 0.0f;
|
||
leg_height_base = 20.0f;
|
||
}
|
||
|
||
// 右扳机 高度向下 ：原始0-1023
|
||
// leg_height_base = constrain(
|
||
// map(remoteData.trigRT, 0, 1023, 20, 60), // 原始范围0-1023，默认0，所以leg_height_base=20
|
||
// 20, 60
|
||
// );
|
||
|
||
// 左扳机 rgb led 上键 闪烁6次：红红黄黄绿绿
|
||
if(remoteData.trigLT && !isBlinking){
|
||
isBlinking = true;
|
||
blinkCount = 0;
|
||
blinkState = 0;
|
||
previousBlinkMillis = millis();
|
||
}
|
||
|
||
// 跳跃 右摇杆按键
|
||
if (remoteData.btnRS && !last_btnRS && robot_enabled) { // 1=true，0=false
|
||
wrobot.jump = 1; // 跳跃
|
||
}else{
|
||
wrobot.jump = 0; // 不跳跃
|
||
}
|
||
last_btnRS = remoteData.btnRS;
|
||
|
||
|
||
// 向左跳跃
|
||
if (remoteData.btnX && !last_btnX && robot_enabled) {
|
||
wrobot.jump = 1;
|
||
left_jump_flag = 1;
|
||
}
|
||
last_btnX = remoteData.btnX;
|
||
|
||
// 向右跳跃
|
||
if (remoteData.btnB && !last_btnB && robot_enabled) {
|
||
wrobot.jump = 1;
|
||
right_jump_flag = 1; // 跳跃
|
||
}
|
||
last_btnB = remoteData.btnB;
|
||
|
||
// 向前跳跃
|
||
if (remoteData.btnY && !last_btnY && robot_enabled) {
|
||
wrobot.jump = 1;
|
||
forward_jump_flag = 1;
|
||
}
|
||
last_btnY = remoteData.btnY;
|
||
|
||
// 向后跳跃
|
||
if (remoteData.btnA && !last_btnA && robot_enabled) {
|
||
wrobot.jump = 1;
|
||
back_jump_flag = 1;
|
||
}
|
||
last_btnA = remoteData.btnA;
|
||
|
||
// btnShare 晃头，点头
|
||
if (remoteData.btnShare && !last_btnShare && robot_enabled && !isExecutingAction) {
|
||
isExecutingAction = true; // 标记开始执行动作
|
||
currentAction = &action_say_hello; // 指定执行的动作
|
||
stepStartTime = millis(); // 记录第一步开始时间
|
||
currentStepIndex = 0; // 从第一步开始
|
||
}
|
||
last_btnShare = remoteData.btnShare; // 更新btnY的上一次状态
|
||
|
||
|
||
// trigRT 根据扳机键按压力度调整振动力度
|
||
if (xboxController.xboxNotif.trigRT > 0) {
|
||
XboxtrigRTVibration();
|
||
}
|
||
|
||
// 舵机中位校准 中间十字左右键同时按下
|
||
if (remoteData.btnSelect && !last_btnSelect && remoteData.btnStart && !last_btnStart) {
|
||
sms_sts.CalibrationOfs(ID[0]);
|
||
sms_sts.CalibrationOfs(ID[1]);
|
||
XboxKeyVibration(100,1000); // 震动
|
||
Serial.println("CalibrationOfs");
|
||
}
|
||
last_btnSelect = remoteData.btnSelect;
|
||
last_btnStart = remoteData.btnStart;
|
||
}
|
||
|
||
// 执行连续动作的函数
|
||
void runActionSequence() {
|
||
// 若未执行动作或动作指针为空，直接返回
|
||
if (!isExecutingAction || currentAction == NULL) {
|
||
return;
|
||
}
|
||
|
||
// 获取当前时间
|
||
unsigned long currentTime = millis();
|
||
|
||
// --------------- 停顿逻辑处理 ---------------
|
||
if (isPausing) {
|
||
// 停顿期间不更新任何控制参数（保持上一步状态）
|
||
unsigned long pauseElapsed = currentTime - pauseStartTime;
|
||
|
||
// 停顿时间结束，切换到下一步
|
||
if (pauseElapsed >= currentPauseDuration) {
|
||
isPausing = false;
|
||
currentStepIndex++;
|
||
stepStartTime = currentTime; // 记录新步骤开始时间
|
||
// Serial.print("停顿结束，切换到步骤：");
|
||
// Serial.println(currentStepIndex);
|
||
}
|
||
return; // 停顿期间直接返回，不执行后续逻辑
|
||
}
|
||
|
||
// --------------- 正常步骤执行逻辑 ---------------
|
||
unsigned long elapsedTime = currentTime - stepStartTime;
|
||
ActionStep currentStep = currentAction->steps[currentStepIndex];
|
||
|
||
// 检查当前步骤是否为结束标记
|
||
if (currentStep.stepDuration == 0) {
|
||
isExecutingAction = false;
|
||
currentStepIndex = 0;
|
||
currentAction = NULL;
|
||
// 重置参数
|
||
wrobot.joyx = 0;
|
||
wrobot.joyy = 0;
|
||
wrobot.jump = 0;
|
||
roll_adjust = 0.0f;
|
||
leg_height_base = 20.0f;
|
||
wrobot.acc0 = SERVO0_ACC; // 恢复默认加速度
|
||
wrobot.acc1 = SERVO1_ACC;
|
||
wrobot.speed0 = SERVO0_SPEED; // 恢复默认速度
|
||
wrobot.speed1 = SERVO1_SPEED;
|
||
return;
|
||
}
|
||
|
||
// 更新当前步骤的控制参数
|
||
wrobot.joyx = currentStep.joyx;
|
||
wrobot.joyy = currentStep.joyy;
|
||
wrobot.jump = currentStep.jump;
|
||
roll_adjust = currentStep.roll_adjust;
|
||
leg_height_base = currentStep.leg_height_base;
|
||
|
||
// 舵机参数同步：动作集定义了则覆盖，未定义则保持wrobot的默认值（全局常量）
|
||
wrobot.acc0 = (currentStep.acc0 != -1) ? currentStep.acc0 : SERVO0_ACC;
|
||
wrobot.acc1 = (currentStep.acc1 != -1) ? currentStep.acc1 : SERVO1_ACC;
|
||
wrobot.speed0 = (currentStep.speed0 != -1) ? currentStep.speed0 : SERVO0_SPEED;
|
||
wrobot.speed1 = (currentStep.speed1 != -1) ? currentStep.speed1 : SERVO1_SPEED;
|
||
|
||
if (elapsedTime >= currentStep.stepDuration) {
|
||
// 若设置了停顿时间，进入停顿状态
|
||
if (currentStep.pauseDuration > 0) {
|
||
isPausing = true;
|
||
currentPauseDuration = currentStep.pauseDuration; // 记录当前需要停顿的时间
|
||
pauseStartTime = currentTime;
|
||
} else {
|
||
// 无停顿，直接切换到下一步
|
||
currentStepIndex++;
|
||
stepStartTime = currentTime;
|
||
}
|
||
}
|
||
}
|