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细化UI，回退pitch限位为不可上坡的

This commit is contained in:
zcj 2024-03-17 20:22:07 +08:00
parent 7a85fdf4c2
commit 202afc84bb
5 changed files with 46 additions and 29 deletions
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4
application/chassis/chassis.c
View File

@ -189,7 +189,7 @@ static void LimitChassisOutput()
// motor_rb->motor_controller.motor_power_predict + // motor_rb->motor_controller.motor_power_predict +
// motor_lb->motor_controller.motor_power_predict + // motor_lb->motor_controller.motor_power_predict +
// motor_lf->motor_controller.motor_power_predict + 3.6f; // motor_lf->motor_controller.motor_power_predict + 3.6f;
float P_max = 60 - 10; float P_max = 55;
float K = P_max/P_cmdall; float K = P_max/P_cmdall;
@ -261,7 +261,7 @@ void ChassisTask()
chassis_cmd_recv.wz = -2000; chassis_cmd_recv.wz = -2000;
break; break;
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 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
chassis_cmd_recv.wz = 1600; chassis_cmd_recv.wz = 2300;
break; break;
default: default:
break; break;

27
application/cmd/robot_cmd.c
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@ -129,10 +129,12 @@ static void update_ui_data()
} }
static void pitch_limit() static void pitch_limit()
{ {
if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500) // if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
gimbal_cmd_send.pitch -= 0.1f; // gimbal_cmd_send.pitch -= 0.1f;
if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000) // if(gimbal_fetch_data.pitch_motor_total_angle < horizontal_angle - 4000)
gimbal_cmd_send.pitch += 0.1f; // gimbal_cmd_send.pitch += 0.1f;
if(gimbal_cmd_send.pitch>18) gimbal_cmd_send.pitch = 18;
if(gimbal_cmd_send.pitch<-38) gimbal_cmd_send.pitch = -38;
} }
/** /**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置 * @brief 控制输入为遥控器(调试时)的模式和控制量设置
@ -149,7 +151,7 @@ static void RemoteControlSet()
} }
else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台 else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台
{ {
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
} }
@ -231,6 +233,7 @@ static void RemoteControlSet()
else else
shoot_cmd_send.load_mode = LOAD_STOP; shoot_cmd_send.load_mode = LOAD_STOP;
// 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, // 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,
shoot_cmd_send.shoot_rate = 10;
} }
/** /**
@ -260,7 +263,10 @@ static void MouseKeySet()
switch (rc_data[TEMP].mouse.press_l) // 左键发射模式 switch (rc_data[TEMP].mouse.press_l) // 左键发射模式
{ {
case 1: case 1:
if(shoot_cmd_send.friction_mode == FRICTION_ON)
shoot_cmd_send.load_mode = LOAD_1_BULLET; shoot_cmd_send.load_mode = LOAD_1_BULLET;
else
shoot_cmd_send.load_mode = LOAD_STOP;
break; break;
default: default:
shoot_cmd_send.load_mode = LOAD_STOP; shoot_cmd_send.load_mode = LOAD_STOP;
@ -284,6 +290,17 @@ static void MouseKeySet()
shoot_cmd_send.friction_mode = FRICTION_ON; shoot_cmd_send.friction_mode = FRICTION_ON;
break; break;
} }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q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_C] % 4) // C键设置底盘速度 switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
{ {
case 0: case 0:

4
application/robot_def.h
View File

@ -36,8 +36,8 @@
#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 #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
#define NUM_PER_CIRCLE 5 // 拨盘一圈的装载量 #define NUM_PER_CIRCLE 5 // 拨盘一圈的装载量
// 机器人底盘修改的参数,单位为mm(毫米) // 机器人底盘修改的参数,单位为mm(毫米)
#define WHEEL_BASE 420 // 纵向轴距(前进后退方向) #define WHEEL_BASE 433.86 // 纵向轴距(前进后退方向)
#define TRACK_WIDTH 450 // 横向轮距(左右平移方向) #define TRACK_WIDTH 463.92 // 横向轮距(左右平移方向)
#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 #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
#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 #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
#define RADIUS_WHEEL 75 // 轮子半径 #define RADIUS_WHEEL 75 // 轮子半径

14
application/shoot/shoot.c
View File

@ -23,6 +23,7 @@ static float hibernate_time = 0, dead_time = 0;
static uint16_t locked_time; static uint16_t locked_time;
void ShootInit() void ShootInit()
{ {
// 摩擦轮 // 摩擦轮
@ -32,12 +33,12 @@ void ShootInit()
}, },
.controller_param_init_config = { .controller_param_init_config = {
.speed_PID = { .speed_PID = {
.Kp = 1.5f, // 20 .Kp = 2, // 20
.Ki = 0.2f, // 1 .Ki = 1, // 1
.Kd = 0, .Kd = 0,
.Improve = PID_Integral_Limit, .Improve = PID_Integral_Limit,
.IntegralLimit = 10000, .IntegralLimit = 10000,
.MaxOut = 15000, .MaxOut = 28000,
}, },
.current_PID = { .current_PID = {
.Kp = 0, // 0.7 .Kp = 0, // 0.7
@ -164,7 +165,7 @@ void ShootTask()
stop_location = loader->measure.total_angle; stop_location = loader->measure.total_angle;
DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度 DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 2000; // 完成1发弹丸发射的时间 dead_time = 300; // 完成1发弹丸发射的时间
break; break;
// 三连发,如果不需要后续可能删除 // 三连发,如果不需要后续可能删除
case LOAD_3_BULLET: case LOAD_3_BULLET:
@ -176,7 +177,7 @@ void ShootTask()
// 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz // 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
case LOAD_BURSTFIRE: case LOAD_BURSTFIRE:
DJIMotorOuterLoop(loader, SPEED_LOOP); DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 5); DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER);
// 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) // 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)
break; break;
// 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) // 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)
@ -194,7 +195,7 @@ void ShootTask()
{ {
DJIMotorSetRef(friction_l, 39000); DJIMotorSetRef(friction_l, 39000);
DJIMotorSetRef(friction_r, 39000); DJIMotorSetRef(friction_r, 39000);
DJIMotorSetRef(friction_z, 39000); DJIMotorSetRef(friction_z, 39000);//39000/6 = 6500
} }
else // 关闭摩擦轮 else // 关闭摩擦轮
{ {
@ -216,7 +217,6 @@ void ShootTask()
// 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 // 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
//推送消息 //推送消息
//ui_data.friction_mode = shoot_cmd_recv.friction_mode;
PubPushMessage(shoot_pub, (void *)&shoot_feedback_data); PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
} }

24
modules/referee/referee_task.c
View File

@ -62,8 +62,8 @@ static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
void MyUIInit() void MyUIInit()
{ {
if (!referee_recv_info->init_flag) // if (!referee_recv_info->init_flag)
vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务 // vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
while (referee_recv_info->GameRobotState.robot_id == 0) while (referee_recv_info->GameRobotState.robot_id == 0)
osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查 osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
@ -89,8 +89,8 @@ void MyUIInit()
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:"); UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:"); // UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
// 绘制车辆状态标志，动态 // 绘制车辆状态标志，动态
// 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 // 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
@ -102,8 +102,8 @@ void MyUIInit()
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off"); UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open "); // UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
// 底盘功率显示，静态 // 底盘功率显示，静态
UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:"); UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
@ -240,12 +240,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0; _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
} }
// lid // lid
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1) // if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
{ // {
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"); // 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");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0; // _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
} // }
// power // power
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1) if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
{ {