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  • polystar/robomaster/controle/bsp
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Device/list_motor.c
View file @ 645a1cb8
......@@ -2,7 +2,6 @@
#include "oled.h"
#include "list_motor.h"
motor_t gm6020;
motor_t gm6020_up;
motor_t gm6020_down;
motor_t m3508_frontleft;
......@@ -34,72 +33,67 @@ const pid_struct_t M2006_pid_pos = { //A FAIRE
0, 12, 3, 5, 10000, 10000
};
void motors_all_init(void){
/*gm6020.type = GM6020;
gm6020.can_info.can_id = 0;
gm6020.can_info.tx_id = 1;
gm6020.can_info.rx_id = 0x205;
gm6020.pid_pos = GM6020_pid_pos;
gm6020.pid_speed = GM6020_pid_speed;*/
m3508_frontleft.type = M3508;
m3508_frontleft.can_info.can_id = 0;
m3508_frontleft.can_info.tx_id = 0;
m3508_frontleft.can_info.rx_id = 0x201;
m3508_frontleft.pid_pos = M3508_pid_pos;
m3508_frontleft.pid_speed = M3508_pid_speed;
m3508_frontright.type = M3508;
m3508_frontright.can_info.can_id = 0;
m3508_frontright.can_info.tx_id = 0;
m3508_frontright.can_info.rx_id = 0x202;
m3508_frontright.pid_pos = M3508_pid_pos;
m3508_frontright.pid_speed = M3508_pid_speed;
m3508_backleft.type = M3508;
m3508_backleft.can_info.can_id = 0;
m3508_backleft.can_info.tx_id = 0;
m3508_backleft.can_info.rx_id = 0x203;
m3508_backleft.pid_pos = M3508_pid_pos;
m3508_backleft.pid_speed = M3508_pid_speed;
m3508_backright.type = M3508;
m3508_backright.can_info.can_id = 0;
m3508_backright.can_info.tx_id = 0;
m3508_backright.can_info.rx_id = 0x204;
m3508_backright.pid_pos = M3508_pid_pos;
m3508_backright.pid_speed = M3508_pid_speed;
m2006.type = M2006;
m2006.can_info.can_id = 0;
m2006.can_info.tx_id = 1;
m2006.can_info.rx_id = 0x207;
m2006.pid_pos = M2006_pid_pos;
m2006.pid_speed = M2006_pid_speed;
//void motors_all_init(void){
//
// m3508_frontleft.type = M3508;
// m3508_frontleft.can_info.can_id = 0;
// m3508_frontleft.can_info.tx_id = 0;
// m3508_frontleft.can_info.rx_id = 0x201;
// m3508_frontleft.pid_pos = M3508_pid_pos;
// m3508_frontleft.pid_speed = M3508_pid_speed;
//
// m3508_frontright.type = M3508;
// m3508_frontright.can_info.can_id = 0;
// m3508_frontright.can_info.tx_id = 0;
// m3508_frontright.can_info.rx_id = 0x202;
// m3508_frontright.pid_pos = M3508_pid_pos;
// m3508_frontright.pid_speed = M3508_pid_speed;
//
// m3508_backleft.type = M3508;
// m3508_backleft.can_info.can_id = 0;
// m3508_backleft.can_info.tx_id = 0;
// m3508_backleft.can_info.rx_id = 0x203;
// m3508_backleft.pid_pos = M3508_pid_pos;
// m3508_backleft.pid_speed = M3508_pid_speed;
//
// m3508_backright.type = M3508;
// m3508_backright.can_info.can_id = 0;
// m3508_backright.can_info.tx_id = 0;
// m3508_backright.can_info.rx_id = 0x204;
// m3508_backright.pid_pos = M3508_pid_pos;
// m3508_backright.pid_speed = M3508_pid_speed;
//
// m2006.type = M2006;
// m2006.can_info.can_id = 0;
// m2006.can_info.tx_id = 1;
// m2006.can_info.rx_id = 0x207;
// m2006.pid_pos = M2006_pid_pos;
// m2006.pid_speed = M2006_pid_speed;
// gm6020_up.type = GM6020;
// gm6020_up.can_info.can_id = 0;
// gm6020_up.can_info.tx_id = 1;
// gm6020_up.can_info.rx_id = 0x205;
// gm6020_up.pid_pos = GM6020_pid_pos;
// gm6020_up.pid_speed = GM6020_pid_speed;
// gm6020_up.MIN_POSITION = 5565;
// gm6020_up.MAX_POSITION = 6675;
//
// gm6020_down.type = GM6020;
// gm6020_down.can_info.can_id = 0;
// gm6020_down.can_info.tx_id = 1;
// gm6020_down.can_info.rx_id = 0x206;
// gm6020_down.pid_pos = GM6020_pid_pos;
// gm6020_down.pid_speed = GM6020_pid_speed;
// gm6020_down.MIN_POSITION = 2519;
// gm6020_down.MAX_POSITION = 7015;
//
//
// gm6020_down.target = 4750;
// gm6020_up.target = 6200;
//}
gm6020_up.type = GM6020;
gm6020_up.can_info.can_id = 0;
gm6020_up.can_info.tx_id = 1;
gm6020_up.can_info.rx_id = 0x205;
gm6020_up.pid_pos = GM6020_pid_pos;
gm6020_up.pid_speed = GM6020_pid_speed;
gm6020_up.MIN_POSITION = 5565;
gm6020_up.MAX_POSITION = 6675;
gm6020_down.type = GM6020;
gm6020_down.can_info.can_id = 0;
gm6020_down.can_info.tx_id = 1;
gm6020_down.can_info.rx_id = 0x206;
gm6020_down.pid_pos = GM6020_pid_pos;
gm6020_down.pid_speed = GM6020_pid_speed;
gm6020_down.MIN_POSITION = 2519;
gm6020_down.MAX_POSITION = 7015;
gm6020_down.target = 4750;
gm6020_up.target = 6200;
}
/*
void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){
switch (mtr){
......@@ -128,14 +122,31 @@ void motors_init(motor_t *motor, int16_t motor_rx_id, enum motors mtr){
motor->can_info.rx_id = motor_rx_id ;
}
void motors_all_init(void){
motors_init(&m2006, 0x207, M2006);
motors_init(&gm6020_down, 0x206, GM6020);
motors_init(&gm6020_up, 0x205, GM6020);
motors_init(&m3508_frontleft, 0x204, M3508);
motors_init(&m3508_frontright, 0x203, M3508);
motors_init(&m3508_backleft, 0x202, M3508);
motors_init(&m3508_backright, 0x201, M3508);
motors_init(&m3508_frontleft, 0x201, M3508);
motors_init(&m3508_frontright, 0x202, M3508);
motors_init(&m3508_backright, 0x203, M3508);
motors_init(&m3508_backleft, 0x204, M3508);
// Paramtres ICRA
// gm6020_up.MIN_POSITION = 5565;
// gm6020_up.MAX_POSITION = 6675;
// gm6020_up.target = 6200;
// gm6020_down.MIN_POSITION = 2519;
// gm6020_down.MAX_POSITION = 7015;
// gm6020_down.target = 4750;
// Paramtres StandardMeca
gm6020_up.MIN_POSITION = 2220;
gm6020_up.MAX_POSITION = 3840;
gm6020_up.target = 3450;
gm6020_down.MIN_POSITION = 2800;
gm6020_down.MAX_POSITION = 6700;
gm6020_down.target = 4750;
}
*/
Device/motor.c
View file @ 645a1cb8
......@@ -92,7 +92,12 @@ void set_motor_speed(motor_t *motor)
float target = motor->target;
switch(motor->type){
case M3508:
if ((target < 100.0) && (target > -100.0)){
run_motor_from_command(motor, motor->pid_pos, target, motor->info.M3508_info.angle);
}
else{
run_motor_from_command(motor, motor->pid_speed, target, motor->info.M3508_info.speed);
}
case GM6020:
run_motor_from_command(motor, motor->pid_speed, target, motor->info.GM6020_info.speed);
case M2006:
......