diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 417b2da..dd567b6 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -70,7 +70,7 @@ void ChassisInit() .MaxOut = 12000, }, .current_PID = { - .Kp = 0.5, // 0.4 + .Kp = 0.4, // 0.4 .Ki = 0, // 0 .Kd = 0, .IntegralLimit = 3000, @@ -217,7 +217,7 @@ void ChassisTask() chassis_cmd_recv.wz = 1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); 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 - chassis_cmd_recv.wz = 400; + chassis_cmd_recv.wz = 1600; break; default: break; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 667923e..caa52b2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -110,9 +110,9 @@ static void CalcOffsetAngle() static void RemoteControlSet() { // 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],底盘跟随云台 + if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺 { - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动 @@ -132,12 +132,15 @@ static void RemoteControlSet() { // 按照摇杆的输出大小进行角度增量,增益系数需调整 gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; + if(gimbal_cmd_send.pitch>=18.0) gimbal_cmd_send.pitch=18.0f; + if(gimbal_cmd_send.pitch<=-40.0) gimbal_cmd_send.pitch=-40.0f; + } // 云台软件限位 // 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 - chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 - chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 + chassis_cmd_send.vx = 10.1f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 + chassis_cmd_send.vy = 10.1f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 // 发射参数 if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开 @@ -152,7 +155,7 @@ static void RemoteControlSet() shoot_cmd_send.friction_mode = FRICTION_OFF; // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 if (rc_data[TEMP].rc.dial < -500) - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; + shoot_cmd_send.load_mode = LOAD_1_BULLET; 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, diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 8993f83..7d29f37 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -63,20 +63,20 @@ void GimbalInit() }, .controller_param_init_config = { .angle_PID = { - .Kp = 50, // 10 - .Ki = 0, + .Kp = 15, // 10 + .Ki = 0.1f, .Kd = 1, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .IntegralLimit = 100, - .MaxOut = 500, + .IntegralLimit = 100,//100 + .MaxOut = 500,//500 }, .speed_PID = { - .Kp = 100, // 50 + .Kp = 30, // 50 .Ki = 0, // 350 - .Kd = 3, // 0 + .Kd = 1, // 0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .IntegralLimit = 2500, - .MaxOut = 20000, + .IntegralLimit = 150,//2500 + .MaxOut = 2000,//20000 }, .other_angle_feedback_ptr = &gimba_IMU_data->Pitch, // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 @@ -90,7 +90,7 @@ void GimbalInit() .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, }, - .motor_type = GM6020, + .motor_type = M3508, }; // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动 yaw_motor = DJIMotorInit(&yaw_config); diff --git a/application/robot_def.h b/application/robot_def.h index 26b057e..cb0a32f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,15 +26,15 @@ /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD 5009 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 +#define YAW_CHASSIS_ALIGN_ECD 891 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度 #define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改 #define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) #define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) // 发射参数 -#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 -#define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f -#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量 +#define ONE_BULLET_DELTA_ANGLE 1368 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 +#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 // 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 TRACK_WIDTH 450 // 横向轮距(左右平移方向) diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index e19af5c..447fcab 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -6,6 +6,7 @@ #include "bsp_dwt.h" #include "general_def.h" + /* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */ static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机 // static servo_instance *lid; 需要增加弹舱盖 @@ -27,16 +28,16 @@ void ShootInit() }, .controller_param_init_config = { .speed_PID = { - .Kp = 0, // 20 - .Ki = 0, // 1 + .Kp = 20, // 20 + .Ki = 1, // 1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, .MaxOut = 15000, }, .current_PID = { - .Kp = 0, // 0.7 - .Ki = 0, // 0.1 + .Kp = 0.7f, // 0.7 + .Ki = 0.1f, // 0.1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, @@ -52,51 +53,52 @@ void ShootInit() .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, }, .motor_type = M3508}; - friction_config.can_init_config.tx_id = 1, + friction_config.can_init_config.tx_id = 3, friction_l = DJIMotorInit(&friction_config); - friction_config.can_init_config.tx_id = 2; // 右摩擦轮,改txid和方向就行 + friction_config.can_init_config.tx_id = 4; // 右摩擦轮,改txid和方向就行 friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; friction_r = DJIMotorInit(&friction_config); // 拨盘电机 Motor_Init_Config_s loader_config = { .can_init_config = { - .can_handle = &hcan2, - .tx_id = 3, + .can_handle = &hcan1, + .tx_id = 5, }, .controller_param_init_config = { .angle_PID = { // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降 - .Kp = 0, // 10 - .Ki = 0, + .Kp = 10, // 10 + .Ki = 0.1f, .Kd = 0, - .MaxOut = 200, + .MaxOut = 4500, }, .speed_PID = { - .Kp = 0, // 10 - .Ki = 0, // 1 + .Kp = 10, // 10 + .Ki = 1, // 1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 5000, - .MaxOut = 5000, + .MaxOut = 10000, }, .current_PID = { - .Kp = 0, // 0.7 - .Ki = 0, // 0.1 + .Kp = 0.3f, // 0.7 + .Ki = 0.1f, // 0.1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 5000, - .MaxOut = 5000, + .MaxOut = 15000, }, }, .controller_setting_init_config = { - .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, + .angle_feedback_source = MOTOR_FEED, + .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转 - .close_loop_type = CURRENT_LOOP | SPEED_LOOP, + .close_loop_type = CURRENT_LOOP | SPEED_LOOP | ANGLE_LOOP, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向 }, - .motor_type = M2006 // 英雄使用m3508 + .motor_type = M3508 // 英雄使用m3508 }; loader = DJIMotorInit(&loader_config); @@ -126,8 +128,8 @@ void ShootTask() // 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可 // 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发) - // if (hibernate_time + dead_time > DWT_GetTimeline_ms()) - // return; + if (hibernate_time + dead_time > DWT_GetTimeline_ms()) + return; // 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换 switch (shoot_cmd_recv.load_mode) @@ -141,8 +143,8 @@ void ShootTask() case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用. DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 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 - dead_time = 150; // 完成1发弹丸发射的时间 + 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 break; // 三连发,如果不需要后续可能删除 case LOAD_3_BULLET: @@ -155,7 +157,7 @@ void ShootTask() case LOAD_BURSTFIRE: DJIMotorOuterLoop(loader, SPEED_LOOP); DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8); - // 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angle per second) + // 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; // 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) // 也有可能需要从switch-case中独立出来 @@ -174,21 +176,21 @@ void ShootTask() // 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 SMALL_AMU_15: - DJIMotorSetRef(friction_l, 0); - DJIMotorSetRef(friction_r, 0); + case BIG_AMU_10: + DJIMotorSetRef(friction_l, 10); + DJIMotorSetRef(friction_r, 10); break; - case SMALL_AMU_18: - DJIMotorSetRef(friction_l, 0); - DJIMotorSetRef(friction_r, 0); + case BIG_AMU_16: + DJIMotorSetRef(friction_l, 16); + DJIMotorSetRef(friction_r, 16); break; - case SMALL_AMU_30: - DJIMotorSetRef(friction_l, 0); - DJIMotorSetRef(friction_r, 0); + case BULLET_SPEED_NONE: + DJIMotorSetRef(friction_l, 39000); + DJIMotorSetRef(friction_r, 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, 30000); - DJIMotorSetRef(friction_r, 30000); + DJIMotorSetRef(friction_l, 0); + DJIMotorSetRef(friction_r, 0); break; } } @@ -209,5 +211,7 @@ 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 + PubPushMessage(shoot_pub, (void *)&shoot_feedback_data); + } \ No newline at end of file diff --git a/daplink.cfg b/daplink.cfg index c0169be..59d64b8 100644 --- a/daplink.cfg +++ b/daplink.cfg @@ -1,18 +1,34 @@ # choose st-link/j-link/dap-link etc. # choose CMSIS-DAP Debugger -adapter driver cmsis-dap +##adapter driver dap-link # select SWD port -transport select swd +##transport select swd # 0x10000 = 64K Flash Size # 1MB on robomaster-C -set FLASH_SIZE 0x100000 +##set FLASH_SIZE 0x100000 -source [find target/stm32f4x.cfg] +##source [find target/stm32f4x.cfg] # download speed = 10MHz # 10MHz on FireDebugger -adapter speed 10000 +##adapter speed 10000 # connect under reset -# reset_config srst_only \ No newline at end of file +# reset_config srst_only + + + + + +source [find interface/cmsis-dap.cfg] + + +transport select swd + +# increase working area to 64KB +set WORKAREASIZE 0x10000 + +source [find target/stm32f4x.cfg] + +reset_config none \ No newline at end of file diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index f01faef..7a9985e 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -270,7 +270,8 @@ void DJIMotorControl() if ((motor_setting->close_loop_type & SPEED_LOOP) && (motor_setting->outer_loop_type & (ANGLE_LOOP | SPEED_LOOP))) { if (motor_setting->feedforward_flag & SPEED_FEEDFORWARD) - pid_ref += *motor_controller->speed_feedforward_ptr; if (motor_setting->speed_feedback_source == OTHER_FEED) + pid_ref += *motor_controller->speed_feedforward_ptr; + if (motor_setting->speed_feedback_source == OTHER_FEED) pid_measure = *motor_controller->other_speed_feedback_ptr; else // MOTOR_FEED pid_measure = measure->speed_aps;