676 lines
26 KiB
C
676 lines
26 KiB
C
// app
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#include "robot_def.h"
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#include "robot_cmd.h"
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// module
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#include "remote_control.h"
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#include "ins_task.h"
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#include "master_process.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "dji_motor.h"
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#include "auto_aim.h"
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#include "super_cap.h"
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// bsp
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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#include "referee_task.h"
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#include "vision_transfer.h"
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// 私有宏,自动将编码器转换成角度值
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#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
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#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
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/* cmd应用包含的模块实例指针和交互信息存储*/
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#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
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#include "can_comm.h"
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#include "user_lib.h"
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static CANCommInstance *cmd_can_comm; // 双板通信CAN comm
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// static CANCommInstance *shoot_can_comm; // 双板通信CAN comm#endif
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#endif
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#ifdef ONE_BOARD
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static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
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static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
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#endif // ONE_BOARD
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static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
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static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
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static Shoot_Upload_Data_s shoot_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
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extern SuperCapInstance *cap; // 超级电容
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static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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static VT_ctrl_t *vt_data; // 图传链路下发的键鼠遥控数据 与遥控器数据格式保持一致
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//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
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//static Vision_Send_s vision_send_data; // 视觉发送数据
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static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
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static SendPacket_t vision_send_data; // 视觉发送数据
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//自瞄相关信息
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static Trajectory_Type_t trajectory_cal;
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static Aim_Select_Type_t aim_select;
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static uint32_t no_find_cnt; // 未发现目标计数
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static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭
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static uint8_t choose_amor_id = 0;
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static float yaw_err_for_test;
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static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
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static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
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static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
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static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Robot_Status_e robot_state; // 机器人整体工作状态
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static referee_info_t *referee_data; // 用于获取裁判系统的数据
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static uint8_t loader_flag = 0; //拨弹模式选择标志位
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void RobotCMDInit() {
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rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
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vision_recv_data = VisionInit(); // 视觉通信串口
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vt_data = VTRefereeInit(&huart1); // 图传通信串口
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referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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#ifdef ONE_BOARD // 双板兼容
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chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x312,
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.rx_id = 0x311,
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},
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.recv_data_len = sizeof(Chassis_Upload_Data_s),
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.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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};
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// CANComm_Init_Config_s shoot_comm_conf = {
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// .can_config = {
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// .can_handle = &hcan1,
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// .tx_id = 0x306,
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// .rx_id = 0x305,
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// },
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// .recv_data_len = sizeof(Shoot_Upload_Data_s),
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// .send_data_len = sizeof(Shoot_Ctrl_Cmd_s),
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// };
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cmd_can_comm = CANCommInit(&comm_conf);
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// shoot_can_comm = CANCommInit(&shoot_comm_conf);
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#endif // GIMBAL_BOARD
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gimbal_cmd_send.pitch = 0;
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robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
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}
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/**
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* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
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* 单圈绝对角度的范围是0~360,说明文档中有图示
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*
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*/
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static void CalcOffsetAngle() {
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// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
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static float angle;
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angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
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#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
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if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle > 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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#else // 小于180度
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if (angle > YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
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#endif
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}
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//功能：死亡后清除小陀螺的状态
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static void death_check()
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{
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if(referee_data->GameRobotState.current_HP <= 0 || referee_data->GameRobotState.power_management_chassis_output == 0)
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{
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rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
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gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
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}
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}
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//功能：等级提升弹频提高
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// static void shoot_rate_improve()
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// {
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// if(referee_data->GameRobotState.robot_level <= 5)
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// // chassis_cmd_send.shoot_rate = 18;
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// if(referee_data->GameRobotState.robot_level >= 5)
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// // chassis_cmd_send.shoot_rate = 25;
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// }
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static void update_ui_data() {
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ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
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//ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
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ui_data.friction_mode = shoot_cmd_send.friction_mode;
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//ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
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ui_data.lid_mode = shoot_cmd_send.lid_mode;
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ui_data.heat_mode = shoot_cmd_send.heat_mode;
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ui_data.aim_fire = aim_select.suggest_fire;
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//ui_data.loader_mode = shoot_cmd_send.loader_mode;
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ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
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ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
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}
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static void auto_aim_mode() {
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trajectory_cal.v0 = 20; //弹速30
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if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
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aim_select.suggest_fire = 0;
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//未发现目标
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no_find_cnt++;
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if (no_find_cnt >= 2000) {
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//gimbal_scan_flag = 1;
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//auto_aim_flag = 0;
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}
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//else
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//auto_aim_flag = 1;
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} else {
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//弹道解算
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no_find_cnt = 0;
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auto_aim_flag = 1;
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choose_amor_id = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
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VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
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float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
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float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
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float yaw_err = diff_yaw;
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yaw_err_for_test = yaw_err;
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if(diff_yaw>180)
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diff_yaw -= 360;
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else if(diff_yaw<-180)
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diff_yaw += 360;
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gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
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gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
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if (yaw_err <= 2) //3度
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{
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aim_select.suggest_fire = 1;
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}
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else
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aim_select.suggest_fire = 0;
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}
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}
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/**
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* @brief 控制输入为遥控器(调试时)的模式和控制量设置
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*
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*/
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static void RemoteControlSet() {
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// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
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{
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
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{
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// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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shoot_cmd_send.lid_mode = LID_CLOSE;
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// chassis_cmd_send.loader_mode = LOAD_BURSTFIRE;
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}
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else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
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{
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shoot_cmd_send.lid_mode = LID_OPEN;
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}
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// 云台参数,确定云台控制数据
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if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
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(vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制
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{
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// 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
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// ...
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aim_select.suggest_fire = 0;
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gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
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if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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}
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// 左侧开关状态为[下],视觉模式
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if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
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auto_aim_mode();
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}
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// 云台软件限位
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// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
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chassis_cmd_send.vx = 8.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
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chassis_cmd_send.vy = 8.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
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// 发射参数
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
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; // 弹舱舵机控制,待添加servo_motor模块,开启
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else; // 弹舱舵机控制,待添加servo_motor模块,关闭
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// 摩擦轮控制,拨轮向上打为负,向下为正
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if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
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shoot_cmd_send.friction_mode = FRICTION_ON;
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else
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
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if (rc_data[TEMP].rc.dial < -500)//
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chassis_cmd_send.enable_flag = 1;
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else
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chassis_cmd_send.enable_flag = 0;
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// 视觉控制发射
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// if (aim_select.suggest_fire == 1) {
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// //shoot_cmd_send.friction_mode = FRICTION_ON;
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// //shoot_cmd_send.shoot_mode = SHOOT_ON;
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// shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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// } else {
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// //shoot_cmd_send.friction_mode = FRICTION_OFF;
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// shoot_cmd_send.load_mode = LOAD_STOP;
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// }
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// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
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// chassis_cmd_send.shoot_rate = -45;
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// if(chassis_fetch_data.stalled_flag ==1)
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// chassis_cmd_send.loader_mode = LOAD_REVERSE;
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}
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static void hand_aim_mode() {
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// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测
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// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
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}
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/**
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* @brief 输入为键鼠时模式和控制量设置
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*
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*/
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static void MouseKeySet() {
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chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测
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chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;
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gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
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gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;
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if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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aim_select.suggest_fire = 0;
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if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
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{
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if (shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.shoot_mode = SHOOT_ON;
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if(loader_flag == 0){
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shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
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}else if(loader_flag == 1){
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shoot_cmd_send.loader_mode = LOAD_3_BULLET;
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}else
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shoot_cmd_send.loader_mode = LOAD_1_BULLET;
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}
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} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r))
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{
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shoot_cmd_send.loader_mode = LOAD_STOP;
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}
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if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
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{
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if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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vision_recv_data->vz == 0))
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{
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shoot_cmd_send.loader_mode = LOAD_STOP;
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} else {
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auto_aim_mode();
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if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
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shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
|
|
} else {
|
|
shoot_cmd_send.loader_mode = LOAD_STOP;
|
|
}
|
|
}
|
|
}
|
|
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
|
|
{
|
|
case 1:
|
|
MyUIInit();
|
|
rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
|
|
{
|
|
case 0:
|
|
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
|
|
break;
|
|
default:
|
|
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET);
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.friction_mode = FRICTION_ON;
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.lid_mode = LID_CLOSE;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.lid_mode = LID_OPEN;
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
|
{
|
|
case 0:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
|
break;
|
|
default:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.heat_mode = HEAT_OPEN;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.heat_mode = HEAT_CLOSE;
|
|
break;
|
|
}
|
|
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
|
|
// {
|
|
// case 0:
|
|
// loader_flag = 0;
|
|
// break;
|
|
// case 1:
|
|
// loader_flag = 1;
|
|
// break;
|
|
// default:
|
|
// loader_flag = 3;
|
|
// break;
|
|
// }
|
|
switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
|
|
{
|
|
case 0:
|
|
chassis_cmd_send.buffer_supercap = 5;
|
|
break;
|
|
case 1:
|
|
chassis_cmd_send.buffer_supercap = 200;
|
|
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
|
|
break;
|
|
}
|
|
|
|
// shoot_rate_improve();
|
|
|
|
if(shoot_fetch_data.stalled_flag ==1)
|
|
shoot_cmd_send.loader_mode = LOAD_REVERSE;
|
|
|
|
death_check();
|
|
}
|
|
|
|
/**
|
|
* @brief 输入为（图传链路）键鼠时模式和控制量设置
|
|
*
|
|
*/
|
|
static void VTMouseKeySet()
|
|
{
|
|
chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 小 3000 3000
|
|
chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000;
|
|
|
|
gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
|
|
gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;
|
|
|
|
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
|
|
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
|
|
|
|
aim_select.suggest_fire = 0;
|
|
if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式
|
|
{
|
|
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
|
|
}
|
|
} else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r))
|
|
{
|
|
shoot_cmd_send.loader_mode = LOAD_STOP;
|
|
|
|
}
|
|
if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式
|
|
{
|
|
if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
|
|
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
|
|
vision_recv_data->vz == 0))
|
|
{
|
|
shoot_cmd_send.loader_mode = LOAD_STOP;
|
|
} else {
|
|
auto_aim_mode();
|
|
if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l &&
|
|
shoot_cmd_send.friction_mode == FRICTION_ON) {
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
|
|
} else {
|
|
shoot_cmd_send.loader_mode = LOAD_STOP;
|
|
}
|
|
}
|
|
}
|
|
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
|
|
{
|
|
case 1:
|
|
MyUIInit();
|
|
vt_data[TEMP].key_count[KEY_PRESS][Key_R]++;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
|
|
{
|
|
case 0:
|
|
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
|
|
break;
|
|
default:
|
|
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET);
|
|
break;
|
|
}
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.friction_mode = FRICTION_ON;
|
|
break;
|
|
}
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.lid_mode = LID_CLOSE;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.lid_mode = LID_OPEN;
|
|
break;
|
|
}
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
|
{
|
|
case 0:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
|
break;
|
|
default:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
break;
|
|
}
|
|
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.heat_mode = HEAT_OPEN;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.heat_mode = HEAT_CLOSE;
|
|
break;
|
|
}
|
|
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
|
|
// {
|
|
// case 0:
|
|
// loader_flag = 0;
|
|
// break;
|
|
// case 1:
|
|
// loader_flag = 1;
|
|
// break;
|
|
// default:
|
|
// loader_flag = 3;
|
|
// break;
|
|
// }
|
|
switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
|
|
{
|
|
case 0:
|
|
chassis_cmd_send.buffer_supercap = 5;
|
|
break;
|
|
case 1:
|
|
chassis_cmd_send.buffer_supercap = 200;
|
|
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
|
|
break;
|
|
}
|
|
|
|
// shoot_rate_improve();
|
|
|
|
if(shoot_fetch_data.stalled_flag ==1)
|
|
shoot_cmd_send.loader_mode = LOAD_REVERSE;
|
|
|
|
death_check();
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
|
|
* 停止的阈值'300'待修改成合适的值,或改为开关控制.
|
|
*
|
|
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
|
|
*
|
|
*/
|
|
static void EmergencyHandler() {
|
|
// 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
|
|
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
|
|
{
|
|
robot_state = ROBOT_STOP;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
|
|
chassis_cmd_send.enable_flag = 0;
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
// chassis_cmd_send.loader_mode = LOAD_STOP;
|
|
LOGERROR("[CMD] emergency stop!");
|
|
}
|
|
// 遥控器右侧开关为[上],恢复正常运行
|
|
if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
|
|
robot_state = ROBOT_READY;
|
|
chassis_cmd_send.enable_flag = 1;
|
|
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
|
|
LOGINFO("[CMD] reinstate, robot ready");
|
|
}
|
|
}
|
|
|
|
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
|
|
void RobotCMDTask() {
|
|
// 从其他应用获取回传数据
|
|
#ifdef ONE_BOARD
|
|
SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
|
|
#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
|
|
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
|
|
// shoot_fetch_data = *(Shoot_Upload_Data_s *)CANCommGet(shoot_can_comm);
|
|
#endif // GIMBAL_BOARD
|
|
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
|
|
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
|
|
update_ui_data();
|
|
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
|
|
CalcOffsetAngle();
|
|
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
|
|
if (robot_state != ROBOT_STOP ){
|
|
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
|
|
if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
|
|
switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
|
|
RemoteControlSet();
|
|
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
|
|
switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
|
|
MouseKeySet();
|
|
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
|
|
switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
|
|
VTMouseKeySet();
|
|
}
|
|
|
|
// 设置视觉发送数据,还需增加加速度和角速度数据
|
|
VisionSetFlag(!referee_data->referee_id.Robot_Color);
|
|
|
|
//根据裁判系统反馈确定底盘功率上限
|
|
chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
|
|
//根据裁判系统反馈确定缓冲功率
|
|
chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
|
|
//根据裁判系统反馈确定枪管热量控制
|
|
// shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
|
|
// shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
|
|
// shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
|
|
|
|
if(referee_data->GameRobotState.power_management_chassis_output == 0){
|
|
// chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
|
|
}
|
|
if(referee_data->GameRobotState.power_management_gimbal_output == 0){
|
|
// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
|
}
|
|
if (referee_data->GameRobotState.power_management_shooter_output == 0){
|
|
// shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
|
}
|
|
|
|
death_check();
|
|
// 推送消息,双板通信,视觉通信等
|
|
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
|
|
#ifdef ONE_BOARD
|
|
PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
|
|
#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
|
|
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
|
|
// CANCommSend(shoot_can_comm,(void *)&shoot_cmd_send);
|
|
#endif // GIMBAL_BOARD
|
|
// PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
|
|
PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
|
|
|
|
}
|