细化UI，回退pitch限位为不可上坡的
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@ -189,7 +189,7 @@ static void LimitChassisOutput()
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// motor_rb->motor_controller.motor_power_predict +
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// motor_lb->motor_controller.motor_power_predict +
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// motor_lf->motor_controller.motor_power_predict + 3.6f;
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float P_max = 60 - 10;
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float P_max = 55;
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float K = P_max/P_cmdall;
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@ -261,7 +261,7 @@ void ChassisTask()
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chassis_cmd_recv.wz = -2000;
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break;
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case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
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chassis_cmd_recv.wz = 1600;
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chassis_cmd_recv.wz = 2300;
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break;
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default:
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break;
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@ -129,10 +129,12 @@ static void update_ui_data()
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}
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static void pitch_limit()
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{
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if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
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gimbal_cmd_send.pitch -= 0.1f;
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if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
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gimbal_cmd_send.pitch += 0.1f;
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// if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
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// gimbal_cmd_send.pitch -= 0.1f;
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// if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
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// gimbal_cmd_send.pitch += 0.1f;
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if(gimbal_cmd_send.pitch>18) gimbal_cmd_send.pitch = 18;
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if(gimbal_cmd_send.pitch<-38) gimbal_cmd_send.pitch = -38;
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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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@ -149,7 +151,7 @@ static void RemoteControlSet()
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}
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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_FREE_MODE;
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}
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@ -231,6 +233,7 @@ static void RemoteControlSet()
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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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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shoot_cmd_send.shoot_rate = 10;
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}
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/**
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@ -260,7 +263,10 @@ static void MouseKeySet()
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switch (rc_data[TEMP].mouse.press_l) // 左键发射模式
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{
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case 1:
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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if(shoot_cmd_send.friction_mode == FRICTION_ON)
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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break;
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default:
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shoot_cmd_send.load_mode = LOAD_STOP;
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@ -284,6 +290,17 @@ static void MouseKeySet()
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shoot_cmd_send.friction_mode = FRICTION_ON;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关小陀螺
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{
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case 0:
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
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break;
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default:
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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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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
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{
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case 0:
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@ -36,8 +36,8 @@
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#define REDUCTION_RATIO_LOADER 19.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49
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#define NUM_PER_CIRCLE 5 // 拨盘一圈的装载量
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// 机器人底盘修改的参数,单位为mm(毫米)
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#define WHEEL_BASE 420 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 450 // 横向轮距(左右平移方向)
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#define WHEEL_BASE 433.86 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 463.92 // 横向轮距(左右平移方向)
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#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
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#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
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#define RADIUS_WHEEL 75 // 轮子半径
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@ -23,6 +23,7 @@ static float hibernate_time = 0, dead_time = 0;
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static uint16_t locked_time;
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void ShootInit()
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{
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// 摩擦轮
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@ -32,12 +33,12 @@ void ShootInit()
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},
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.controller_param_init_config = {
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.speed_PID = {
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.Kp = 1.5f, // 20
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.Ki = 0.2f, // 1
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.Kp = 2, // 20
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.Ki = 1, // 1
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.Kd = 0,
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.Improve = PID_Integral_Limit,
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.IntegralLimit = 10000,
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.MaxOut = 15000,
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.MaxOut = 28000,
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},
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.current_PID = {
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.Kp = 0, // 0.7
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@ -164,7 +165,7 @@ void ShootTask()
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stop_location = loader->measure.total_angle;
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DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = 2000; // 完成1发弹丸发射的时间
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dead_time = 300; // 完成1发弹丸发射的时间
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break;
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// 三连发,如果不需要后续可能删除
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case LOAD_3_BULLET:
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@ -176,7 +177,7 @@ void ShootTask()
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// 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
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case LOAD_BURSTFIRE:
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DJIMotorOuterLoop(loader, SPEED_LOOP);
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DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 5);
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DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER);
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// x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度(DJIMotor的速度单位是)
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break;
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// 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈和电机电流)
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@ -194,7 +195,7 @@ void ShootTask()
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{
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DJIMotorSetRef(friction_l, 39000);
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DJIMotorSetRef(friction_r, 39000);
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DJIMotorSetRef(friction_z, 39000);
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DJIMotorSetRef(friction_z, 39000);//39000/6 = 6500
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}
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else // 关闭摩擦轮
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{
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@ -216,7 +217,6 @@ void ShootTask()
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// 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈
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//推送消息
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//ui_data.friction_mode = shoot_cmd_recv.friction_mode;
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PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
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}
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@ -62,8 +62,8 @@ static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
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void MyUIInit()
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{
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if (!referee_recv_info->init_flag)
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vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
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// if (!referee_recv_info->init_flag)
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// vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
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while (referee_recv_info->GameRobotState.robot_id == 0)
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osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
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@ -89,8 +89,8 @@ void MyUIInit()
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
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UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
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UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
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// UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
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// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
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// 绘制车辆状态标志，动态
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// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
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@ -102,8 +102,8 @@ void MyUIInit()
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
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UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
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UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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// UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
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// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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// 底盘功率显示，静态
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UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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@ -240,12 +240,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
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_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
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}
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// lid
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if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
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{
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UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
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}
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// if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
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// {
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// UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
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// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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// _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
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// }
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// power
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if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
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{
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