vee
104 lines
3.8 KiB
YAML
104 lines
3.8 KiB
YAML
id: rocking_horse
|
|
name: 木马模式
|
|
aliases:
|
|
- 木马模式
|
|
- 木马
|
|
- 摇摇马
|
|
- 骑木马
|
|
- rocking horse
|
|
description: >-
|
|
腾势 N7 固件原生动态模式。座椅围绕中间姿态连续向前俯摆、向后仰摆，
|
|
坐盆使用增强上下行程，四电机在每个半周期同步启动并以位置会合方式到达，
|
|
形成可感知升降、无屏息、无末段追赶的木马节奏。
|
|
icon: waves
|
|
scope:
|
|
vehicle_ids:
|
|
- denza_n7
|
|
seat_tuning:
|
|
coordinate_space: hall_pulse
|
|
firmware_header: firmware/t2g/Seat_Controller_demo/Config/seat_dynamic_mode_config.h
|
|
calibrated_max_hall: [480, 374, 917, 647]
|
|
actual_bench_max_hall: [499, 374, 917, 647]
|
|
experience_tuning:
|
|
cushion_peak_to_peak_hall_pulses: 120
|
|
cushion_peak_to_peak_vertical_mm: 18.0
|
|
cushion_amplitude_gain_vs_revision_11: 2.0
|
|
diagonal_coupling_compensation:
|
|
cushion_opposing_horizontal_mm: 16.4
|
|
longitudinal_peak_to_peak_hall_pulses: 100
|
|
longitudinal_peak_to_peak_mm: 44.8
|
|
estimated_net_horizontal_mm: 28.4
|
|
customization_rules:
|
|
- 所有目标必须位于对应轴已标定 Hall 量程内
|
|
- 前后端点应围绕中心姿态分布，避免接近机械端点
|
|
- 四轴占空比不得低于台架已验证的可靠起动值
|
|
- 修改本文件后必须同步修改固件配置头并重新执行 IAR/HIL
|
|
timeline:
|
|
repeat: until_stopped_or_timeout
|
|
max_runtime_ms: 600000
|
|
entry:
|
|
id: center
|
|
name: 木马中心姿态
|
|
transition: all_targets_reached
|
|
timeout_ms: 30000
|
|
targets:
|
|
longitudinal: {value: 143, unit: mm, hall_pulse: 320}
|
|
cushion_tilt: {value: 50.8, unit: percent, hall_pulse: 190}
|
|
backrest_recline: {value: 37.1, unit: degree_from_upright, hall_pulse: 500}
|
|
legrest_height: {value: 47.9, unit: degree, hall_pulse: 430}
|
|
phases:
|
|
- id: rock_forward
|
|
name: 向前俯摆
|
|
completion: all_targets_reached
|
|
timeout_ms: 15000
|
|
transition: synchronized_target_rendezvous
|
|
targets:
|
|
longitudinal: {value: 121, unit: mm, hall_pulse: 270}
|
|
cushion_tilt: {value: 66.8, unit: percent, hall_pulse: 250}
|
|
backrest_recline: {value: 34.1, unit: degree_from_upright, hall_pulse: 460}
|
|
legrest_height: {value: 44.5, unit: degree, hall_pulse: 400}
|
|
effects:
|
|
body_motion: {metaphor: rocking_horse_nose_down, easing: smooth}
|
|
motion:
|
|
synchronized_start: true
|
|
synchronized_arrival: true
|
|
continuous_four_axis_cruise: true
|
|
cruise_duty_percent:
|
|
longitudinal: 90
|
|
cushion_tilt: 90
|
|
backrest_recline: 90
|
|
legrest_height: 50
|
|
final_approach_hall_pulses: 8
|
|
final_duty_percent: 50
|
|
- id: rock_backward
|
|
name: 向后仰摆
|
|
completion: all_targets_reached
|
|
timeout_ms: 15000
|
|
transition: synchronized_target_rendezvous
|
|
targets:
|
|
longitudinal: {value: 166, unit: mm, hall_pulse: 370}
|
|
cushion_tilt: {value: 34.8, unit: percent, hall_pulse: 130}
|
|
backrest_recline: {value: 40.0, unit: degree_from_upright, hall_pulse: 540}
|
|
legrest_height: {value: 51.2, unit: degree, hall_pulse: 460}
|
|
effects:
|
|
body_motion: {metaphor: rocking_horse_nose_up, easing: smooth}
|
|
motion:
|
|
synchronized_start: true
|
|
synchronized_arrival: true
|
|
continuous_four_axis_cruise: true
|
|
cruise_duty_percent:
|
|
longitudinal: 90
|
|
cushion_tilt: 90
|
|
backrest_recline: 90
|
|
legrest_height: 50
|
|
final_approach_hall_pulses: 8
|
|
final_duty_percent: 50
|
|
operations:
|
|
- domain: seat
|
|
capability: seat.start_dynamic_mode
|
|
target_scope: passenger
|
|
operation: set
|
|
parameters:
|
|
mode_id: 1
|
|
reason: 启动 IAR revision 13 带坐盆斜向耦合水平补偿的原生木马模式，循环至停止指令或十分钟上限。
|