CAN总线控制Robomodule驱动使底盘电机转动

材料 单片机、RoboModule、RM35电机

基本步骤：

本文以开环模式为例，主要讲述底盘电机驱动部分。

注意：
1）发送指令与模式选择指令，模式选择指令与发送数据指令之间要有延时函数。
2）连续发送的时间间隔不能小于 2 毫秒
注释：
1）该片代码一共配置了3个底盘电机。DIL、DIR、DB为电机ID
2）底盘电机图示：

3）底盘电机速度
应用代码：

void D_motor_Reset()//全部底盘电机循环体内部的初始化重配置(含延时)
{
	CAN_RoboModule_DRV_Reset(DIL);                      //对DIL复位，下同 
	CAN_RoboModule_DRV_Reset(DIR);
	CAN_RoboModule_DRV_Reset(DB);
	delay_ms(1000);                                     //发送复位指令后的延时必须要有，等待驱动器复位完毕。
	CAN_RoboModule_DRV_Config(DIL,100,0);               //配置为1s传回一次数据
	CAN_RoboModule_DRV_Config(DIR,100,0);
	CAN_RoboModule_DRV_Config(DB,100,0);
	delay_ms(1);
	CAN_RoboModule_DRV_Mode_Choice(DIL,OpenLoop_Mode);  //选择进入模式
	CAN_RoboModule_DRV_Mode_Choice(DIR,OpenLoop_Mode);
	CAN_RoboModule_DRV_Mode_Choice(DB,OpenLoop_Mode);
	delay_ms(1000);                                      //发送模式选择指令后，要等待驱动器进入模式就绪。所以延时也不可以去掉。
}

void D_sport(short x,short y,short d,short s)
{

	if(d==0) s=(-s);

	CAN_RoboModule_DRV_OpenLoop_Mode(x,y,s);
}

#define PI 3.1415926f
int D_move(short s,short theta) //让车子以全速的(0.02x)%,角度(0.1*theta)%度移动.注意90度为前进
{
	float Vx,Vy,v1,v2,v3;
	
	Vx=cos(0.1*(float)theta*PI/180.0)*(float)s;
	Vy=sin(0.1*(float)theta*PI/180.0)*(float)s;
	
	#define AFA 60
	v1 = (float)(-(cos(AFA / 180.0f*PI) * Vx) - (sin(AFA / 180.0f*3.1415926f) * Vy));
	v2 = (float)Vx;
	v3 = (float)(-(cos(AFA / 180.0f *PI) * Vx) + (sin(AFA / 180.0f*3.1415926f) * Vy));

	D_sport(DILD,v1);
	D_sport(DIRD,v3);
	D_sport(DBD,v2);
}

下面为控制的主要函数：

复位指令函数：
初始状态

void CAN_RoboModule_DRV_Reset(unsigned char Group,unsigned char Number)
{
    unsigned short can_id = 0x000;
    CanTxMsg tx_message;
    
    tx_message.IDE = CAN_ID_STD;    //标准帧
    tx_message.RTR = CAN_RTR_DATA;  //数据帧
    tx_message.DLC = 0x08;          //帧长度为8
    
    if((Group<=7)&&(Number<=15))
    {
        can_id |= Group<<8;
        can_id |= Number<<4;
    }
    else
    {
        return;
    }
    
    tx_message.StdId = can_id;      //帧ID为传入参数的CAN_ID
    
    tx_message.Data[0] = 0x55;
    tx_message.Data[1] = 0x55;
    tx_message.Data[2] = 0x55;
    tx_message.Data[3] = 0x55;
    tx_message.Data[4] = 0x55;
    tx_message.Data[5] = 0x55;
    tx_message.Data[6] = 0x55;
    tx_message.Data[7] = 0x55;
    
    can_tx_success_flag = 0;
    CAN_Transmit(CAN1,&tx_message);
    while(can_tx_success_flag == 0); //如果CAN芯片是TJA1050，注释掉这个判断。
}

模式选择指令函数：

1. OpenLoop_Mode_____________ 0x01
2. Current_Mode _______________ 0x02
3. Velocity_Mode _______________0x03
4. Position_Mode _______________0x04
5. Velocity_Position_Mode________ 0x05
6. Current_Velocity_Mode_________0x06
7. Current_Position_Mode_________0x07
8. Current_Velocity_Position_Mode___0x08

void CAN_RoboModule_DRV_Mode_Choice(unsigned char Group,unsigned char Number,unsigned char Mode)
{
    unsigned short can_id = 0x001;
    CanTxMsg tx_message;
    
    tx_message.IDE = CAN_ID_STD;    //标准帧
    tx_message.RTR = CAN_RTR_DATA;  //数据帧
    tx_message.DLC = 0x08;          //帧长度为8
    
    if((Group<=7)&&(Number<=15))
    {
        can_id |= Group<<8;
        can_id |= Number<<4;
    }
    else
    {
        return;
    }
    
    tx_message.StdId = can_id;      //帧ID为传入参数的CAN_ID
    
    tx_message.Data[0] = Mode;
    tx_message.Data[1] = 0x55;
    tx_message.Data[2] = 0x55;
    tx_message.Data[3] = 0x55;
    tx_message.Data[4] = 0x55;
    tx_message.Data[5] = 0x55;
    tx_message.Data[6] = 0x55;
    tx_message.Data[7] = 0x55;
    
    can_tx_success_flag = 0;
    CAN_Transmit(CAN1,&tx_message);
    while(can_tx_success_flag == 0); //如果CAN芯片是TJA1050，注释掉这个判断。
}

开环模式下的数据指令函数：

void CAN_RoboModule_DRV_OpenLoop_Mode(unsigned char Group,unsigned char Number,short Temp_PWM)
{
    unsigned short can_id = 0x002;
    CanTxMsg tx_message;
    
    tx_message.IDE = CAN_ID_STD;    //标准帧
    tx_message.RTR = CAN_RTR_DATA;  //数据帧
    tx_message.DLC = 0x08;          //帧长度为8
    
    if((Group<=7)&&(Number<=15))
    {
        can_id |= Group<<8;
        can_id |= Number<<4;
    }
    else
    {
        return;
    }
    
    tx_message.StdId = can_id;      //帧ID为传入参数的CAN_ID

    if(Temp_PWM > 5000)
    {
        Temp_PWM = 5000;
    }
    else if(Temp_PWM < -5000)
    {
        Temp_PWM = -5000;
    }
    
    tx_message.Data[0] = (unsigned char)((Temp_PWM>>8)&0xff);
    tx_message.Data[1] = (unsigned char)(Temp_PWM&0xff);
    tx_message.Data[2] = 0x55;
    tx_message.Data[3] = 0x55;
    tx_message.Data[4] = 0x55;
    tx_message.Data[5] = 0x55;
    tx_message.Data[6] = 0x55;
    tx_message.Data[7] = 0x55;
    
    can_tx_success_flag = 0;
    CAN_Transmit(CAN1,&tx_message);
    while(can_tx_success_flag == 0); //如果CAN芯片是TJA1050，注释掉这个判断。
}

参考资料：11-RoboModule-RMDS系列驱动器-CAN总线通信协议说明