UI完成

application/chassis/chassis.c

@@ -44,7 +44,7 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_recv;         // 底盘接收到的控制
 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
 
 static referee_info_t* referee_data; // 用于获取裁判系统的数据
-static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
+
 
 static SuperCapInstance *cap;                                       // 超级电容
 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
@@ -110,7 +110,7 @@ void ChassisInit()
     chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
     motor_rb = DJIMotorInit(&chassis_motor_config);
 
-    referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
+    referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
 
     SuperCap_Init_Config_s cap_conf = {
         .can_config = {
@@ -290,6 +290,7 @@ void ChassisTask()
     // // 获取裁判系统数据   建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
     // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
     chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
+
     // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
     // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
     // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;

application/cmd/robot_cmd.c

@@ -3,6 +3,7 @@
 #include "robot_cmd.h"
 // module
 #include "remote_control.h"
+#include "referee_task.h"
 #include "ins_task.h"
 #include "master_process.h"
 #include "message_center.h"
@@ -54,6 +55,7 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
 
 static Robot_Status_e robot_state; // 机器人整体工作状态
 extern float horizontal_angle;
+int target_index = -1;
 
 void RobotCMDInit()
 {
@@ -118,7 +120,13 @@ static void CalcOffsetAngle()
 //    else
 //        chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle;
 }
-
+static void update_ui_data()
+{
+    ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
+    ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
+    ui_data.friction_mode = shoot_cmd_send.friction_mode;
+    ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
+}
 static void pitch_limit()
 {
     if(gimbal_fetch_data.pitch_motor_total_angle > horizontal_angle + 1500)
@@ -132,6 +140,7 @@ static void pitch_limit()
  */
 static void RemoteControlSet()
 {
+    aim_select.suggest_fire = 0;
     // 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?
     if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
     {
@@ -158,7 +167,7 @@ static void RemoteControlSet()
     }
     // 左侧开关状态为[下],视觉模式
     if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
-        trajectory_cal.v0 = 30; //弹速30
+        trajectory_cal.v0 = 12.5; //弹速30
         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) {
             aim_select.suggest_fire = 0;
@@ -176,7 +185,8 @@ static void RemoteControlSet()
             no_find_cnt = 0;
             auto_aim_flag = 1;
 
-            int target_index = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
+            target_index = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
+            VisionSetAim(aim_select.aim_point[0],aim_select.aim_point[1],aim_select.aim_point[2]);
 
             gimbal_cmd_send.yaw = -trajectory_cal.cmd_yaw * 180 / PI;
 
@@ -221,7 +231,6 @@ static void RemoteControlSet()
     else
         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,
-    shoot_cmd_send.shoot_rate = 8;
 }
 
 /**
@@ -230,37 +239,31 @@ static void RemoteControlSet()
  */
 static void MouseKeySet()
 {
-    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 7000 - rc_data[TEMP].key[KEY_PRESS].d * 7000; // 系数待测
+    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 6000 - rc_data[TEMP].key[KEY_PRESS].d * 6000; // 系数待测
-    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 7000 - rc_data[TEMP].key[KEY_PRESS].s * 7000;
+    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 6000 - rc_data[TEMP].key[KEY_PRESS].s * 6000;
 
     gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 7; // 系数待测
     gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 7;
     pitch_limit();
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
+//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速//
+//    {
+//    case 0:
+//        shoot_cmd_send.bullet_speed = 15;
+//        break;
+//    case 1:
+//        shoot_cmd_send.bullet_speed = 18;
+//        break;
+//    default:
+//        shoot_cmd_send.bullet_speed = 30;
+//        break;
+//    }
+    switch (rc_data[TEMP].mouse.press_l) // 左键发射模式
     {
-    case 0:
-        shoot_cmd_send.bullet_speed = 15;
-        break;
-    case 1:
-        shoot_cmd_send.bullet_speed = 18;
-        break;
-    default:
-        shoot_cmd_send.bullet_speed = 30;
-        break;
-    }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
-    {
-    case 0:
-        shoot_cmd_send.load_mode = LOAD_STOP;
-        break;
     case 1:
         shoot_cmd_send.load_mode = LOAD_1_BULLET;
         break;
-    case 2:
-        shoot_cmd_send.load_mode = LOAD_3_BULLET;
-        break;
     default:
-        shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
+        shoot_cmd_send.load_mode = LOAD_STOP;
         break;
     }
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
@@ -349,7 +352,8 @@ void RobotCMDTask()
 #endif // GIMBAL_BOARD
     SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
     SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
-
+    //更新UI
+    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();
     // 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

application/gimbal/gimbal.c

@@ -168,5 +168,6 @@ void GimbalTask()
     gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
     gimbal_feedback_data.pitch_motor_total_angle = pitch_motor->measure.total_angle;
     // 推送消息
+
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
 }

application/shoot/shoot.c

@@ -4,6 +4,7 @@
 #include "dji_motor.h"
 #include "message_center.h"
 #include "bsp_dwt.h"
+#include "referee_task.h"
 #include "general_def.h"
 
 
@@ -191,30 +192,9 @@ void ShootTask()
     // 确定是否开启摩擦轮,后续可能修改为键鼠模式下始终开启摩擦轮(上场时建议一直开启)
     if (shoot_cmd_recv.friction_mode == FRICTION_ON)
     {
-        // 根据收到的弹速设置设定摩擦轮电机参考值,需实测后填入
-        switch (shoot_cmd_recv.bullet_speed)
-        {
-        case BIG_AMU_10:
-            DJIMotorSetRef(friction_l, 10);
-            DJIMotorSetRef(friction_r, 10);
-            DJIMotorSetRef(friction_z, 10);
-            break;
-        case BIG_AMU_16:
-            DJIMotorSetRef(friction_l, 16);
-            DJIMotorSetRef(friction_r, 16);
-            DJIMotorSetRef(friction_z, 16);
-            break;
-        case BULLET_SPEED_NONE:
             DJIMotorSetRef(friction_l, 39000);
             DJIMotorSetRef(friction_r, 39000);
             DJIMotorSetRef(friction_z, 39000);
-            break;
-        default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-            DJIMotorSetRef(friction_l, 0);
-            DJIMotorSetRef(friction_r, 0);
-            DJIMotorSetRef(friction_z, 0);
-            break;
-        }
     }
     else // 关闭摩擦轮
     {
@@ -236,6 +216,7 @@ 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
 
     //推送消息
+    //ui_data.friction_mode = shoot_cmd_recv.friction_mode;
     PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
 
 }

modules/auto_aim/auto_aim.c

@@ -10,7 +10,7 @@
  * @param[in]      trajectory_cal:弹道解算结构体
  * @retval         返回空
  */
-void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal) {
+int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal) {
     aim_sel->delay_time = trajectory_cal->fly_time + trajectory_cal->extra_delay_time;
     aim_sel->target_state.yaw += aim_sel->target_state.v_yaw * aim_sel->delay_time;
 
@@ -190,9 +190,12 @@ void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_
     }
 
     float r = use_1 ? aim_sel->target_state.r2 : aim_sel->target_state.r1;
-    aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x * ((center_length - r)/center_length);
+
-    aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + ((center_length - r)/center_length);
+    aim_sel->aim_point[0] = aim_sel->target_state.x * ((center_length - r) / center_length);
-    aim_sel->aim_point[2] = aim_sel->armor_pose[idx].z + ((center_length - r)/center_length);
+    aim_sel->aim_point[1] = aim_sel->target_state.y * ((center_length - r) / center_length);
+    aim_sel->aim_point[2] = aim_sel->target_state.z * ((center_length - r) / center_length);
+
+    return idx;
 }
 
 /**
@@ -260,8 +263,8 @@ void get_cmd_angle(Trajectory_Type_t *trajectory_cal) {
     trajectory_cal->cmd_pitch = trajectory_cal->theta_k;
 }
 
-void auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
+int auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
-    trajectory_cal->extra_delay_time = 0.035;//0.025
+    trajectory_cal->extra_delay_time = 0.025f;//0.025
 
     aim_sel->target_state.armor_type = receive_packet->id;
     aim_sel->target_state.armor_num = receive_packet->armors_num;
@@ -277,7 +280,7 @@ void auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, Rec
     aim_sel->target_state.r2 = receive_packet->r2;
     aim_sel->target_state.dz = receive_packet->dz;
 
-    aim_armor_select(aim_sel, trajectory_cal);
+    int idx = aim_armor_select(aim_sel, trajectory_cal);
 
     trajectory_cal->position_xy[0] = aim_sel->aim_point[0];
     trajectory_cal->position_xy[1] = aim_sel->aim_point[1];
@@ -287,5 +290,5 @@ void auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, Rec
     trajectory_cal->velocity[2] = aim_sel->target_state.vz;
 
     get_cmd_angle(trajectory_cal);
-
+    return idx;
 }

modules/auto_aim/auto_aim.h

@@ -69,9 +69,9 @@ typedef struct
 }Aim_Select_Type_t;
 
 
-void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal);
+int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal);
 float get_fly_time(float x, float vx, float v_x0);
 void get_cmd_angle(Trajectory_Type_t *trajectory_cal);
-void auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
+int auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
 
 #endif //BASIC_FRAMEWORK_AUTO_AIM_H

modules/master_machine/master_process.c

@@ -172,7 +172,7 @@ void VisionSend()
 
     send_data.header = 0x5A;
 //    VisionSetFlag(1);
-    VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
+    //VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
     send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);
 
     memcpy(send_buffer,&send_data,sizeof(send_data));

modules/referee/referee_protocol.h

@@ -16,8 +16,8 @@
 /****************************宏定义部分****************************/
 
 #define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
-#define Robot_Red 1
+#define Robot_Red 0
-#define Robot_Blue 0
+#define Robot_Blue 1
 #define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
 
 #pragma pack(1)

modules/referee/referee_task.c

@@ -14,7 +14,7 @@
 #include "referee_UI.h"
 #include "string.h"
 #include "cmsis_os.h"
-
+Referee_Interactive_info_t ui_data;
 static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
 static referee_info_t *referee_recv_info;            // 接收到的裁判系统数据
 uint8_t UI_Seq;                                      // 包序号，供整个referee文件使用
@@ -49,8 +49,9 @@ referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Int
 
 void UITask()
 {
-    RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
+//    RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
     MyUIRefresh(referee_recv_info, Interactive_data);
+
 }
 
 static Graph_Data_t UI_shoot_line[10]; // 射击准线

modules/referee/referee_task.h

@@ -8,6 +8,7 @@
  * @brief 初始化裁判系统交互任务(UI和多机通信)
  *
  */
+extern Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
 referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
 
 /**