wheel_leg_balance_vehicle's Introduction

轮腿平衡车

北极熊的轮腿平衡车车验证项目，打造一款萌宠小平衡。

doc文件夹中为说明文档，请阅读

更多功能正在开发中。

电机标号

本项目中前方方向为电池开关方向。

关节电机选用小米电机，接入CAN1，各电机id如图所示。

驱动轮电机选用2006，接入CAN2，各电机id如图所示。

操作说明

鉴于小米电机的控制反馈问题，目前打算先用几何解算来使用位置模式达到控制效果。

准备模式，遥控器左端拨杆置于OFF档，初始化收腿（此时将右拨杆置于ATII裆重新标定电机零点）
腿部伸长，遥控器左端拨杆置于CL档，此时腿部伸长到指定位置
将机器人竖直放置
开始平衡，遥控器左端拨杆置于HL档，此时差不多能平衡了。

如何控制这只小平衡：

右摇杆控制速度和旋转。
左摇杆控制腿长和roll角。

参考

详见 reference

开发方向

加入速度控制和方向控制。
实现丝滑的VMC解算效果
添加离地检测和打滑检测

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