Rickxu2/engineer2024 #77
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ywh114
reviewed
Oct 5, 2024
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| // elbow_rotate_motor->Control(ELBOW_MOTOR_ID, 0.0, 0.0, PI/8, 0.03, 0.03); | ||
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| // elbow_rotate_motor->Control(ELBOW_MOTOR_ID, 0.0, 0.0, PI/4, 0.01, 0.01); |
ywh114
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Oct 5, 2024
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| void RM_RTOS_Init(void) { | ||
| print_use_uart(&huart6); | ||
| bsp::SetHighresClockTimer(&htim5); | ||
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| sbus = new remote::SBUS(&huart3); | ||
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| can = new bsp::CAN(&hcan1); | ||
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| A1 = new CustomUART(A1_UART); | ||
| A1->SetupRx(300); | ||
| A1->SetupTx(300); | ||
| base_vert_rotate_motor = new control::UnitreeMotor(); | ||
| base_hor_rotate_motor = new control::UnitreeMotor(); | ||
| elbow_rotate_motor = new control::UnitreeMotor(); | ||
| } | ||
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| static joint_state_t last_targets = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; | ||
| //static joint_state_t target_state = {0.0,0.0,0.0,0.0,0.0,0.0,0.0}; | ||
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| #define DEBUG_MODE | ||
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| void RM_RTOS_Default_Task(const void* args) { | ||
| UNUSED(args); | ||
| // A1 init state | ||
| base_hor_rotate_motor->Stop( BASE_YAW_ID); | ||
| base_vert_rotate_motor->Stop(BASE_PITCH_ID); | ||
| elbow_rotate_motor->Stop(ELBOW_PITCH_ID); | ||
| ArmTransmitOutput(); | ||
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| // turn each motor for PI/16 degree every 2 seconds. | ||
| // Should stop at defined limitation, see arm_config.h | ||
| while (true) { | ||
| #ifdef DEBUG_MODE | ||
| print("CH0: %-4d CH1: %-4d CH2: %-4d CH3: %-4d ", sbus->ch[0], sbus->ch[1], sbus->ch[2], sbus->ch[3]); | ||
| print("CH4: %-4d CH5: %-4d CH6: %-4d CH7: %-4d ", sbus->ch[4], sbus->ch[5], sbus->ch[6], sbus->ch[7]); | ||
| print("CH8: %-4d CH9: %-4d CH10: %-4d CH11: %-4d ", sbus->ch[8], sbus->ch[9], sbus->ch[10], sbus->ch[11]); | ||
| print("CH12: %-4d CH13: %-4d CH14: %-4d CH15: %-4d ", sbus->ch[12], sbus->ch[13], sbus->ch[14], sbus->ch[15]); | ||
| osDelay(100); | ||
| #else | ||
| if (sbus->ch[6] > 0) { | ||
| target_state = {0.0, sbus->ch[0] / sbus->CHANNEL_MAX, sbus->ch[1] / sbus->CHANNEL_MAX, sbus->ch[2] / sbus->CHANNEL_MAX, 0.0, 0.0, 0.0}; | ||
| ArmTurnRelative(&target_state); | ||
| ArmPrintData(); | ||
| ArmTransmitOutput(); | ||
| } else | ||
| osDelay(100); | ||
| #endif | ||
| } | ||
| } |
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nit: inconsistent indent size. Use 2.
ywh114
reviewed
Oct 5, 2024
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| /* Usage: | ||
| * The 'key' is the white button on TypeC boards | ||
| **/ |
ywh114
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Oct 5, 2024
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| /** | ||
| * define params ends | ||
| **/ |
ywh114
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Oct 5, 2024
| control::steering_t steering_data; | ||
| motor1 = new control::Motor3508(can1, 0x201); | ||
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| // TODO assign a GPIO pin to the PE sensor |
ywh114
reviewed
Oct 5, 2024
| steering_data.motor = motor1; | ||
| steering_data.max_speed = RUN_SPEED; | ||
| steering_data.max_acceleration = ACCELERATION; | ||
| // TODO make sure the gear ratio is correct |
ywh114
reviewed
Oct 5, 2024
| steering_data.omega_pid_param = new float[3]{140, 1.2, 25}; | ||
| steering_data.max_iout = 1000; | ||
| steering_data.max_out = 13000; | ||
| // TODO measure the calibrate offset for base translate motor |
ywh114
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Oct 5, 2024
| } | ||
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| base_translate_motor->ReAlign(); | ||
| //base_translate_motor->SetMaxSpeed(RUN_SPEED); |
ywh114
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Oct 5, 2024
| #endif | ||
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| #ifdef ELBOW_ROTATE_MOTOR_ENABLE | ||
| // elbow_rotate_motor->Control(ELBOW_MOTOR_ID, 0.0, 0.0, 0, 0.003, 0.003); |
ywh114
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Oct 5, 2024
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| // float impulse_filtered[6] = {0, 0, 0, 0, 0, 0}; | ||
| // float sbus_derivative[6] = {0, 0, 0, 0, 0, 0}; | ||
| // std::vector<float> filtered_signal; | ||
| // std::deque<int> filter_window; | ||
| // float filtered_output = 0; | ||
| // int window_size = 5; // Example window size |
ywh114
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Oct 5, 2024
| } | ||
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| while (true) { | ||
| print("test\r\n"); |
ywh114
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Oct 5, 2024
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| // for (int i = SBUS_START_IDX; i < SBUS_START_IDX + 6; i++) { | ||
| // int index = i - SBUS_START_IDX; // Adjust index for zero-based array indexing | ||
| // MedianFilter(sbus->ch[i], filtered_signal, 5); | ||
| // } | ||
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| // updateFilter(sbus->ch[10], filter_window, window_size, filtered_output); |
ywh114
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Oct 5, 2024
| //static remote::DBUS* dbus = nullptr; | ||
| static remote::SBUS* sbus = nullptr; | ||
| static bsp::GPIO* key = nullptr; | ||
| //static float sbus_prev[6] = {0, 0, 0, 0, 0, 0}; |
ywh114
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Oct 5, 2024
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| // float impulse_filtered[6] = {0, 0, 0, 0, 0, 0}; | ||
| // float sbus_derivative[6] = {0, 0, 0, 0, 0, 0}; | ||
| std::vector<float> filtered_signal; | ||
| std::deque<int> filter_window; | ||
| // float filtered_output = 0; | ||
| // int window_size = 5; |
ywh114
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Oct 5, 2024
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| // for (int i = SBUS_START_IDX; i < SBUS_START_IDX + 6; i++) { | ||
| // int index = i - SBUS_START_IDX; // Adjust index for zero-based array indexing | ||
| // MedianFilter(sbus->ch[i], filtered_signal, 5); | ||
| // } | ||
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| // updateFilter(sbus->ch[10], filter_window, window_size, filtered_output); |
ywh114
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Oct 5, 2024
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| // print("d: %-4d, %-4d, %-4d, %-4d, %-4d, %-4d\n", sbus->ch[10], sbus->ch[11], sbus->ch[12], sbus->ch[13], sbus->ch[14], sbus->ch[15]); | ||
| print("d: %-4d, %-4f, %-4f, %-4f\n", sbus->ch[10], J4_pos, J5_pos, J6_pos); | ||
| // print("d: %-4d, %-4d, %-4d\n", sbus->ch[0], sbus_actual, sbus_derivative); | ||
| // print("d: %-4d, %-4d, %-4d\n", sbus->ch[1], sbus_actual2, sbus_derivative2); | ||
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| // print("Vel Get: %f, Pos Get: %f\n", vel_get, pos_get); |
ywh114
reviewed
Oct 5, 2024
| if(!key->Read()){ | ||
| angle += 10.0; | ||
| power -= 10; | ||
| keyEdgeDetector.input(!(key->Read())); |
There was a problem hiding this comment.
nit: () around key->Read not nessecary
ywh114
reviewed
Oct 5, 2024
| control::PDIHV* motor1; | ||
| //bsp::GPIO* pe = nullptr; | ||
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| bool nintyDegree = false; |
ywh114
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Oct 5, 2024
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| // motor1->SetOutput(1500); | ||
| osDelay(300); | ||
| // pe = new bsp::GPIO(IN1_GPIO_Port, IN1_Pin); |
ywh114
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Oct 5, 2024
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| // motor1->SetOutput(1500); | ||
| osDelay(300); | ||
| // pe = new bsp::GPIO(IN1_GPIO_Port, IN1_Pin); |
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still nessecary? commented out below as well.
ywh114
reviewed
Oct 5, 2024
| @@ -85,9 +85,9 @@ void RM_RTOS_Default_Task(const void* args) { | |||
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| control::MotorCANBase* motors[] = {motor}; | |||
| // bsp::GPIO key(KEY_GPIO_GROUP, KEY_GPIO_PIN); | |||
ywh114
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Oct 5, 2024
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| while(dbus->ch[4] < 100){} // flip swr t; | ||
| print("motor enabled\r\n" ); |
ywh114
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Oct 5, 2024
| @@ -41,6 +41,7 @@ void RM_RTOS_Init(void) { | |||
| gpio_green = new bsp::GPIO(LED_GREEN_GPIO_Port, LED_GREEN_Pin); | |||
| gpio_red->High(); | |||
| gpio_green->High(); | |||
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…and all chassis motors are connected to the same bus.
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