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110 lines
4.1 KiB
110 lines
4.1 KiB
/*
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* robot_cv_config.c
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*
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* Created on: 2026年6月10日
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* Author: lapto
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*/
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#include "robot_cv_config.h"
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// 全局常量配置表，存放在 Flash/ROM 中，掉电不丢失
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const CV_struct_define g_robotCvTable[MAX_ROBOT_COUNT] = {
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// [0] = { /* 机器人 L2.2-05 (ID=0) 的全套参数 */
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// .MAXSpeed_m_per_min = 20,
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// .LeftTurnSpeed = 40,
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// .RightTurnSpeed = 40,
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// .RobotLeftAngleValue = -9000,
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// .RobotRightAngleValue = 9000,
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// .RobotUpAngleValue = 0,
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// .RobotDownAngleValue = 0,
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// .DMK0_Speed = 0,
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// .Lane_Change_Speed_m_per_min = 4,
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// .IsAutomationAuthorized = 1,
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// .IsFunctionAuthorized = 1,
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// .Joy_Sticker_Angle_Allowance = 45,
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// .Joy_Sticker_Value_Allowance = 600,
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// .Allowable_Error_For_Angle_Tracking = 100,
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// .Horizontal_ChangeLane_Compensation = -5,
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// .Vertical_ChangeLane_Compensation = -1,
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// .wheel_Reduction_Ratio = 101,
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// .wheel_Diameter_m = 0.28,
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// .has_PID_high = true,
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// .PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
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// .has_PID_mid = true,
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// .PID_mid = { .PID_Angle=500, .Kp = 0.3, .Ki = 0, .Kd = 0.1 },
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// .has_PID_low = true,
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// .PID_low = { .PID_Angle=100, .Kp = 0.01, .Ki = 0, .Kd = 0.05 }
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// },
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// [1] = { /* 机器人 L01-24 (ID=1) 的全套参数 */
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// .MAXSpeed_m_per_min = 20,
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// .LeftTurnSpeed = 40,
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// .RightTurnSpeed = 40,
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// .RobotLeftAngleValue = -9000,
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// .RobotRightAngleValue = 9000,
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// .RobotUpAngleValue = 0,
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// .RobotDownAngleValue = 0,
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// .DMK0_Speed = 0,
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// .Lane_Change_Speed_m_per_min = 4,
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// .IsAutomationAuthorized = 1,
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// .IsFunctionAuthorized = 1,
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// .Joy_Sticker_Angle_Allowance = 45,
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// .Joy_Sticker_Value_Allowance = 600,
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// .Allowable_Error_For_Angle_Tracking = 100,
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// .Horizontal_ChangeLane_Compensation = -5,
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// .Vertical_ChangeLane_Compensation = -1,
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// .wheel_Reduction_Ratio = 101,
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// .wheel_Diameter_m = 0.28,
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// .has_PID_high = true,
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// .PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
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// .has_PID_mid = true,
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// .PID_mid = { .PID_Angle=800, .Kp = 0.3, .Ki = 0, .Kd = 0.2 },
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// .has_PID_low = true,
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// .PID_low = { .PID_Angle=100, .Kp = 0.08, .Ki = 0, .Kd = 0.05 }
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// },
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[2] = { /* 机器人 BGR L01 (ID=2) 的全套参数 */
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.MAXSpeed_m_per_min = 20,
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.LeftTurnSpeed = 40,
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.RightTurnSpeed = 40,
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.RobotLeftAngleValue = -9000,
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.RobotRightAngleValue = 9000,
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.RobotUpAngleValue = 0,
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.RobotDownAngleValue = 0,
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.DMK0_Speed = 0,
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.Lane_Change_Speed_m_per_min = 4,
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.IsAutomationAuthorized = 1,
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.IsFunctionAuthorized = 1,
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.Joy_Sticker_Angle_Allowance = 45,
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.Joy_Sticker_Value_Allowance = 600,
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.Allowable_Error_For_Angle_Tracking = 100,
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.Horizontal_ChangeLane_Compensation = -5,
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.Vertical_ChangeLane_Compensation = -1,
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.wheel_Reduction_Ratio = 101,
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.wheel_Diameter_m = 0.28,
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.has_PID_high = true,
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.PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
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.has_PID_mid = true,
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.PID_mid = { .PID_Angle=800, .Kp = 0.3, .Ki = 0, .Kd = 0.1 },
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.has_PID_low = true,
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.PID_low = { .PID_Angle=100, .Kp = 0.08, .Ki = 0, .Kd = 0.05 }
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},
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// 后续机器人直接按 [2], [3] ... 往下加即可
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// 未明确赋值的项会被编译器自动初始化为 0/false
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};
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/**
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* @brief 根据机器人ID获取预设的CV参数指针
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* @param robotId 机器人编号 (0 ~ MAX_ROBOT_COUNT-1)
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* @return 成功返回参数指针，越界返回 NULL
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*/
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const CV_struct_define* Robot_GetCvConfig(uint8_t robotId) {
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if (robotId >= MAX_ROBOT_COUNT) {
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return NULL;
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}
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return &g_robotCvTable[robotId];
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}
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