增加shift使用超电，UI显示摩擦轮转速（可调）和温度

application/chassis/chassis.c

@@ -60,9 +60,11 @@ float chassis_power = 0;
 static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅
 float P_cmdall = 0;
-
+static uint8_t last_chassis_power_limit=0;
 void ChassisInit()
 {
+
+
     // 四个轮子的参数一样,改tx_id和反转标志位即可
     Motor_Init_Config_s chassis_motor_config = {
         .can_init_config.can_handle = &hcan1,
@@ -112,16 +114,14 @@ void ChassisInit()
     motor_rb = DJIMotorInit(&chassis_motor_config);
 
 
-
+    SuperCap_Init_Config_s cap_conf = {
-//    SuperCap_Init_Config_s cap_conf = {
+            .can_config = {
-//        .can_config = {
+                    .can_handle = &hcan1,
-//            .can_handle = &hcan2,
+                    .tx_id = 0x210,
-//            .tx_id = 0x210,
+                    .rx_id = 0x211,
-//            .rx_id = 0x211,
+            }};
-//        }};
+    cap = SuperCapInit(&cap_conf); // 超级电容初始化
-//    cap = SuperCapInit(&cap_conf); // 超级电容初始化
+    SuperCapSetPower(cap,70);  // 超级电容限制功率
-//    SuperCapSetPower(cap,70);  // 超级电容限制功率
-
 
 //    PowerMeter_Init_Config_s power_conf = {
 //            .can_config = {
@@ -176,7 +176,6 @@ static void MecanumCalculate()
  */
 static void LimitChassisOutput()
 {
-
     float initial_total_power[4]={motor_rf->motor_controller.motor_power_predict ,
                                   motor_rb->motor_controller.motor_power_predict ,
                                   motor_lb->motor_controller.motor_power_predict ,
@@ -188,11 +187,12 @@ static void LimitChassisOutput()
             continue;
         P_cmdall += initial_total_power[i];
     }
-//    float P_cmd = motor_rf->motor_controller.motor_power_predict +
+
-//                  motor_rb->motor_controller.motor_power_predict +
+
-//                  motor_lb->motor_controller.motor_power_predict +
+    float P_max = (float)(chassis_cmd_recv.chassis_power_limit + 5 + chassis_cmd_recv.P_SuperCap) ;
-//                  motor_lf->motor_controller.motor_power_predict + 3.6f;
+
-    float P_max = chassis_cmd_recv.chassis_power_limit ;
+    if(chassis_cmd_recv.chassis_power_buffer<10)//当缓冲功率过小时，限制功率给小；
+        P_max = chassis_cmd_recv.chassis_power_limit;
     float K = P_max/P_cmdall;
 
 
@@ -211,7 +211,19 @@ static void LimitChassisOutput()
 
 
 }
+/**
+ * @brief 每次随等级更新超电的设定功率
+ *
+ */
+static void SuperCapSetUpdate()
+{
 
+    if(last_chassis_power_limit != chassis_cmd_recv.chassis_power_limit)
+    {
+        SuperCapSetPower(cap,chassis_cmd_recv.chassis_power_limit);  // 超级电容限制功率
+        last_chassis_power_limit = chassis_cmd_recv.chassis_power_limit;
+    }
+}
 /**
  * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
  *        对于双板的情况,考虑增加来自底盘板IMU的数据
@@ -267,12 +279,16 @@ void ChassisTask()
         chassis_cmd_recv.wz = 4500;
         break;
     case CHASSIS_VERTICAL_YAW:
-        chassis_cmd_recv.offset_angle -= 90;
+        chassis_cmd_recv.offset_angle -= 45;
         chassis_cmd_recv.wz = 2.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
         if(chassis_cmd_recv.wz > 4500)
             chassis_cmd_recv.wz = 4500;
         if(chassis_cmd_recv.wz < -4500)
             chassis_cmd_recv.wz = -4500;
+    case CHASSIS_FIXED:
+        chassis_cmd_recv.vx=0;
+        chassis_cmd_recv.vy=0;
+        chassis_cmd_recv.wz = 0;
 
     default:
         break;
@@ -300,8 +316,8 @@ void ChassisTask()
     // 根据电机的反馈速度和IMU(如果有)计算真实速度
     EstimateSpeed();
 
-    //获取底盘功率
+    //更新超电设定值
-
+    SuperCapSetUpdate();
 
     // // 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

application/cmd/robot_cmd.c

@@ -61,15 +61,15 @@ 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
 static referee_info_t* referee_data; // 用于获取裁判系统的数据
 static referee_info_vt_t* referee_vt_data;
-float  DeltaPitchAngle=0,PitchMotorAngle=0;
+static float  DeltaPitchAngle=0,PitchMotorAngle=0;
-static float base_HP=12.0f;
+static uint8_t Pitch_Limit_Flag=1;
-
+static float Horizontal_Pitch_total_angle=0;
 void RobotCMDInit()
 {
     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
     vision_recv_data = VisionInit(); // 视觉通信,用的是USB通讯
-    vt_data = VTRefereeInit(&huart1);
+    //vt_data = VTRefereeInit(&huart1);
-
+    //@TODO:找一个可以自由切换图传链路和遥控器控制的逻辑
     gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
     gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
     shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
@@ -93,6 +93,7 @@ void RobotCMDInit()
 #endif // GIMBAL_BOARD
     referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
     gimbal_cmd_send.pitch = 0;
+    shoot_cmd_send.motor_speed = 5500;
 
     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
 }
@@ -135,28 +136,32 @@ static void death_check()
     if(referee_data->GameRobotState.current_HP <= 0)
     {
         rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
+        gimbal_cmd_send.YawMotorEnableFlag = 5;
     }
 }
 
 static void update_ui_data()
 {
-    base_HP+=0.01f;
-    if(base_HP >=24)
-    {base_HP=12.0f;}
-
     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;
     ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
     ui_data.Vision_fire = aim_select.suggest_fire;
-    ui_data.Chassis_Power_Data.cap_vol = base_HP;
+    ui_data.Chassis_Power_Data.cap_vol = chassis_fetch_data.cap_vol/100.0f;
+    ui_data.Chassis_Power_Data.motor_speed = shoot_cmd_send.motor_speed;
+    ui_data.Motor_Temperature = shoot_fetch_data.Motor_Temperature;
 }
 static void pitch_limit()
 {
-    PitchMotorAngle = -0.0019f * gimbal_fetch_data.pitch_motor_total_angle - 0.4059;//电机旋转导致的云台相对底盘角度
+    if(!Pitch_Limit_Flag)
-    DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle;
+    {
+        float Delta_total_angle;//pitch电机自水平位置转过的角度
+        Delta_total_angle = gimbal_fetch_data.pitch_motor_total_angle-Horizontal_Pitch_total_angle;
+        PitchMotorAngle = -0.0019f * Delta_total_angle - 0.4059;//电机旋转导致的云台相对底盘角度
+        DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle;//陀螺仪和电机角的误差
         gimbal_cmd_send.pitch = LIMIT_MIN_MAX(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE-DeltaPitchAngle, PITCH_MAX_ANGLE-DeltaPitchAngle);
+    }
 }
 static void auto_aim_mode()
 {
@@ -228,14 +233,12 @@ 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],小陀螺
     {
-        shoot_cmd_send.friction_mode = FRICTION_ON;
         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],底盘跟随云台
     {
-        shoot_cmd_send.friction_mode = FRICTION_OFF;
         chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
         shoot_cmd_send.tele_mode = TELE_CLOSE;
@@ -266,7 +269,6 @@ static void RemoteControlSet()
     // 发射参数
     if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],调整水平pitch参数
     {
-        gimbal_cmd_send.gimbal_mode = ADJUST_PITCH_MODE;
         shoot_cmd_send.tele_mode = TELE_OPEN;
     }// 弹舱舵机控制,待添加servo_motor模块,开启
     else
@@ -277,13 +279,15 @@ static void RemoteControlSet()
         shoot_cmd_send.friction_mode = FRICTION_ON;
     else
         shoot_cmd_send.friction_mode = FRICTION_OFF;
+    ;
+        //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_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,
-    shoot_cmd_send.shoot_rate = 300;
+    shoot_cmd_send.shoot_rate = 500;
 }
 
 /**
@@ -292,8 +296,8 @@ static void RemoteControlSet()
  */
 static void MouseKeySet()
 {
-    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 30000 - rc_data[TEMP].key[KEY_PRESS].d * 30000; // 系数待测
+    chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 60000 - rc_data[TEMP].key[KEY_PRESS].d * 60000; // 系数待测
-    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 30000 - rc_data[TEMP].key[KEY_PRESS].s * 30000;
+    chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 60000 - rc_data[TEMP].key[KEY_PRESS].s * 60000;
 
     gimbal_cmd_send.yaw -= (float)rc_data[TEMP].mouse.x / 660 * 9; // 系数待测
     gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 *5 ;
@@ -335,7 +339,7 @@ static void MouseKeySet()
     switch (rc_data[TEMP].key[KEY_PRESS].v) // V键开启连发//
     {
     case 0:
-        shoot_cmd_send.shoot_rate= 300;
+        shoot_cmd_send.shoot_rate= 500;
         break;
     case 1:
         shoot_cmd_send.shoot_rate = 50;
@@ -351,6 +355,24 @@ static void MouseKeySet()
     default:
         break;
     }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键加100转速
+    {
+        case 1:
+            shoot_cmd_send.motor_speed +=100;
+            rc_data[TEMP].key_count[KEY_PRESS][Key_B]++;
+            break;
+        default:
+            break;
+    }
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键减100转速
+    {
+        case 1:
+            shoot_cmd_send.motor_speed -=100;
+            rc_data[TEMP].key_count[KEY_PRESS][Key_C]++;
+            break;
+        default:
+            break;
+    }
     switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
     {
     case 0:
@@ -360,12 +382,12 @@ static void MouseKeySet()
         shoot_cmd_send.friction_mode = FRICTION_ON;
         break;
     }
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关摩擦轮
+    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关倍镜
     {
         case 0:
             shoot_cmd_send.tele_mode = TELE_CLOSE;
             break;
-        default:
+        case 1:
             shoot_cmd_send.tele_mode = TELE_OPEN;
             break;
     }
@@ -380,29 +402,16 @@ static void MouseKeySet()
             gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
             break;
     }
-    switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键侧身用于瞄准
+    switch (rc_data[TEMP].key[KEY_PRESS].shift) // V键开启连发//
     {
         case 0:
-            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+            chassis_cmd_send.P_SuperCap=0;
             break;
         case 1:
-            chassis_cmd_send.chassis_mode = CHASSIS_VERTICAL_YAW;
+            chassis_cmd_send.P_SuperCap=195;
             break;
     }
-
-    switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
-    {
-    case 1:
-
-        break;
-
-    default:
-
-        break;
-    }
-
     pitch_limit();
-    death_check();
 }
 /**
 	 * @brief 输入为（图传链路）键鼠时模式和控制量设置
@@ -454,7 +463,7 @@ static void VTMouseKeySet()
     switch (vt_data[TEMP].key[KEY_PRESS].v) // V键开启连发//
     {
         case 0:
-            shoot_cmd_send.shoot_rate= 300;
+            shoot_cmd_send.shoot_rate= 500;
             break;
         case 1:
             shoot_cmd_send.shoot_rate = 50;
@@ -529,7 +538,7 @@ static void VTMouseKeySet()
     }
 
     pitch_limit();
-    death_check();
+
 }
 
 
@@ -556,8 +565,13 @@ static void EmergencyHandler()
     // 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;
+        gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
         shoot_cmd_send.shoot_mode = SHOOT_ON;
+        shoot_cmd_send.friction_mode = FRICTION_OFF;
+
+
         LOGINFO("[CMD] reinstate, robot ready");
     }
 }
@@ -584,8 +598,13 @@ void RobotCMDTask()
         RemoteControlSet();
     else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
     {
-        //MouseKeySet();
+        MouseKeySet();
-        VTMouseKeySet();
+        if(Pitch_Limit_Flag)
+        {
+            Pitch_Limit_Flag = 0;
+            Horizontal_Pitch_total_angle = gimbal_fetch_data.pitch_motor_total_angle;
+        }
+
     }
 
     EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
@@ -595,6 +614,7 @@ void RobotCMDTask()
     //根据裁判系统反馈确定底盘功率上限和缓冲功率
     chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
     chassis_cmd_send.chassis_power_buffer = referee_data->PowerHeatData.buffer_energy;
+    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
@@ -605,5 +625,4 @@ void RobotCMDTask()
 #endif // GIMBAL_BOARD
     PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
     PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
-    VisionSend(&vision_send_data);
 }

application/gimbal/gimbal.c

@@ -30,12 +30,11 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 0.5f,//0.5, // 8
+                .Kp = 2.0f,//0.5, // 8
                 .Ki = 0,
-                .Kd = 0,
+                .Kd = 0.02f,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,
-
                 .MaxOut = 500,
             },
             .speed_PID = {
@@ -67,15 +66,15 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 0.3f,//20, // 65
+                .Kp = 0.35f,//20, // 65
                 .Ki = 0,
-                .Kd = 0,//1,
+                .Kd = 0.005f,//1,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,//100
                 .MaxOut = 500,//500
             },
             .speed_PID = {
-                .Kp = 3500,//11000,  // 50
+                .Kp = 6000,//11000,  // 50
                 .Ki = 1000, // 350
                 .Kd = 0,//15000,   // 0
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
@@ -96,6 +95,7 @@ void GimbalInit()
         },
         .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 = DMMotorInit(&yaw_config);
     pitch_motor = DJIMotorInit(&pitch_config);
@@ -104,12 +104,21 @@ void GimbalInit()
     gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
 }
 
+static void YawMotorEnable(void)
+{
+    if(gimbal_cmd_recv.YawMotorEnableFlag)
+    {
+        DMMotorSetMode(DM_CMD_MOTOR_MODE, yaw_motor);
+        gimbal_cmd_recv.YawMotorEnableFlag--;
+    }
+}
 /* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
 void GimbalTask()
 {
     // 获取云台控制数据
     // 后续增加未收到数据的处理
     SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
+    YawMotorEnable();
     // @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
     // 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
     switch (gimbal_cmd_recv.gimbal_mode)

application/robot.c

@@ -29,6 +29,8 @@ void RobotInit()
     
     BSPInit();
 
+
+
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
     GimbalInit();
@@ -39,6 +41,7 @@ void RobotInit()
     ChassisInit();
 #endif
 
+
     OSTaskInit(); // 创建基础任务
 
     // 初始化完成,开启中断

application/robot_def.h

@@ -26,8 +26,8 @@
 
 /* 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 2.812502  // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 4.386964  // 云台和底盘对齐指向相同方向时的电机position值,需要加上PI，因为单圈角度计算里增加了PI若对云台有机械改动需要修改
-#define YAW_ECD_GREATER_THAN_4096 1 // 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 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 13           // 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 -35           // 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)
@@ -87,6 +87,7 @@ typedef enum
     CHASSIS_NO_FOLLOW,         // 不跟随，允许全向平移
     CHASSIS_FOLLOW_GIMBAL_YAW, // 跟随模式，底盘叠加角度环控制
     CHASSIS_VERTICAL_YAW,
+    CHASSIS_FIXED,
 } chassis_mode_e;
 
 // 云台模式设置
@@ -112,8 +113,8 @@ typedef enum
 
 typedef enum
 {
-    TELE_OPEN = 0, // 弹舱盖打开
+    TELE_CLOSE = 0, // 倍镜打开
-    TELE_CLOSE,    // 弹舱盖关闭
+    TELE_OPEN,    // 倍镜关闭
 } tele_mode_e;
 
 typedef enum
@@ -130,6 +131,7 @@ typedef struct
 { // 功率控制
     uint16_t chassis_power_mx;
     float cap_vol;
+    uint16_t motor_speed;
 } Chassis_Power_Data_s;
 
 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
@@ -148,6 +150,7 @@ typedef struct
     chassis_mode_e chassis_mode;
     int chassis_power_buffer;
     uint16_t chassis_power_limit;
+    uint8_t P_SuperCap;
     // UI部分
     //  ...
 
@@ -159,6 +162,8 @@ typedef struct
     float yaw;
     float pitch;
     float chassis_rotate_wz;
+    uint8_t YawMotorEnableFlag;
+
 
     gimbal_mode_e gimbal_mode;
 } Gimbal_Ctrl_Cmd_s;
@@ -173,6 +178,8 @@ typedef struct
     float bullet_speed; // 发射周期
     uint8_t rest_heat;
     float shoot_rate; // 连续发射的射频,unit per s,发/秒
+    uint16_t motor_speed;
+
 } Shoot_Ctrl_Cmd_s;
 
 /* ----------------gimbal/shoot/chassis发布的反馈数据----------------*/
@@ -209,6 +216,7 @@ typedef struct
     // code to go here
     // ...
     uint8_t stalled_flag;  //堵转标志
+    uint8_t Motor_Temperature;
 } Shoot_Upload_Data_s;
 
 #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)

application/robot_task.h

@@ -52,7 +52,6 @@ void OSTaskInit()
     osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
     uiTaskHandle = osThreadCreate(osThread(uitask), NULL);
 
-    HTMotorControlInit(); // 没有注册HT电机则不会执行
     DMMotorControlInit(); // 没有注册DM电机则不会执行
 }
 

application/shoot/shoot.c

@@ -19,7 +19,6 @@ static Shoot_Upload_Data_s shoot_feedback_data; // 来自cmd的发射控制信
 float Kp=2;
 float Ki=1;
 float Kd=0;
-
 static float stop_location;
 // dwt定时,计算冷却用
 static float hibernate_time = 0, dead_time = 0;
@@ -82,13 +81,13 @@ void ShootInit()
         .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 = 50, // 10
+                .Kp = 70, // 10
                 .Ki = 0,
-                .Kd = 0,
+                .Kd = 0.01f,
                 .MaxOut = 15000,
             },
             .speed_PID = {
-                .Kp = 2.4f, // 10
+                .Kp = 3.8f, // 10
                 .Ki = 0, // 1
                 .Kd = 0,
                 .Improve = PID_Integral_Limit,
@@ -237,9 +236,11 @@ 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)
     {
-//            DJIMotorSetRef(friction_l,  39000);
+
-            DJIMotorSetRef(friction_r, 36000);
+            shoot_cmd_recv.motor_speed = LIMIT_MIN_MAX(shoot_cmd_recv.motor_speed,4000,8500);
-            DJIMotorSetRef(friction_z, 36000);//39000/6 = 6500
+            DJIMotorSetRef(friction_r, (float)(6*shoot_cmd_recv.motor_speed));
+            DJIMotorSetRef(friction_z, (float)(6*shoot_cmd_recv.motor_speed));
+//            DJIMotorSetRef(friction_l,  (float)(6*shoot_cmd_recv.motor_speed));
     }
     else // 关闭摩擦轮
     {
@@ -251,17 +252,13 @@ void ShootTask()
     // 开关弹舱盖
     if (shoot_cmd_recv.tele_mode == TELE_CLOSE)
     {
-        DJIMotorOuterLoop(telescope, ANGLE_LOOP);
-        DJIMotorSetRef(telescope,  0);
     }
     else if (shoot_cmd_recv.tele_mode == TELE_OPEN)
     {
-        DJIMotorOuterLoop(telescope, ANGLE_LOOP);
-        DJIMotorSetRef(telescope,  1620);
     }
 
     // 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
-
+    shoot_feedback_data.Motor_Temperature = friction_r->measure.temperature;
     //推送消息
     PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
 

modules/motor/DMmotor/dm4310.c

@@ -25,7 +25,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
     return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
 }
 
-static void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
 {
     memset(motor->motor_can_instance->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
     motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id
@@ -75,7 +75,7 @@ static void DMMotorLostCallback(void *motor_ptr)
 void DMMotorCaliEncoder(DMMotorInstance *motor)
 {
     DMMotorSetMode(DM_CMD_ZERO_POSITION, motor);
-    DWT_Delay(0.1);
+    DWT_Delay(0.1f);
 }
 DMMotorInstance *DMMotorInit(Motor_Init_Config_s *config)
 {

modules/motor/DMmotor/dm4310.h

@@ -68,7 +68,7 @@ void DMMotorSetRef(DMMotorInstance *motor, float ref);
 void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
 
 void DMMotorEnable(DMMotorInstance *motor);
-
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor);
 void DMMotorStop(DMMotorInstance *motor);
 void DMMotorCaliEncoder(DMMotorInstance *motor);
 void DMMotorControlInit();

modules/referee/referee_task.c

@@ -79,9 +79,11 @@ void MyUIInit()
     UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
     UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
     UILineDraw(&UI_shoot_line[5], "sl5", UI_Graph_ADD, 7, UI_Color_Yellow, 2, shoot_line_location[5], 200, shoot_line_location[5], 800);
-
+    UIFloatDraw(&UI_shoot_line[6], "sl6", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 2, 650, 440, 5500000);
     UIGraphRefresh(&referee_recv_info->referee_id, 7, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4], UI_shoot_line[5],UI_shoot_line[6]);
 
+    UIFloatDraw(&UI_shoot_line[7], "sl7", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 2, 850, 440, 26000);
+    UIGraphRefresh(&referee_recv_info->referee_id,1, UI_shoot_line[7]);
 
     // 绘制车辆状态标志指示
     UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
@@ -91,6 +93,7 @@ void MyUIInit()
     UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
     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:");
+
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
 
 
@@ -104,6 +107,7 @@ void MyUIInit()
     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");
     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 ");
 //    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
 
@@ -263,6 +267,20 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
         UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]);
         _Interactive_data->Referee_Interactive_Flag.Cap_flag = 0;
     }
+    //motor_speed
+    if (_Interactive_data->Referee_Interactive_Flag.MotorSpeed_flag == 1)
+    {
+        UIFloatDraw(&UI_shoot_line[6], "sl6", UI_Graph_Change, 7, UI_Color_Green, 18, 2, 2, 650, 440, _Interactive_data->Chassis_Power_Data.motor_speed * 1000);
+        UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_line[6]);
+        _Interactive_data->Referee_Interactive_Flag.MotorSpeed_flag = 0;
+    }
+    //Motor_Temperature
+    if (_Interactive_data->Referee_Interactive_Flag.Temperature_flag == 1)
+    {
+        UIFloatDraw(&UI_shoot_line[7], "sl7", UI_Graph_Change, 7, UI_Color_Green, 18, 2, 2, 850, 440, _Interactive_data->Motor_Temperature*1000);
+        UIGraphRefresh(&referee_recv_info->referee_id,1, UI_shoot_line[7]);
+        _Interactive_data->Referee_Interactive_Flag.Temperature_flag = 0;
+    }
 
     //line
     if (_Interactive_data->Referee_Interactive_Flag.Vision_flag == 1)
@@ -338,4 +356,14 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
         _Interactive_data->Referee_Interactive_Flag.Vision_flag = 1;
         _Interactive_data->last_Vision_fire = _Interactive_data->Vision_fire;
     }
+    if (_Interactive_data->Chassis_Power_Data.motor_speed != _Interactive_data->Chassis_last_Power_Data.motor_speed)
+    {
+        _Interactive_data->Referee_Interactive_Flag.MotorSpeed_flag = 1;
+        _Interactive_data->Chassis_last_Power_Data.motor_speed = _Interactive_data->Chassis_Power_Data.motor_speed;
+    }
+    if (_Interactive_data->Motor_Temperature != _Interactive_data->Last_Motor_Temperature)
+    {
+        _Interactive_data->Referee_Interactive_Flag.Temperature_flag = 1;
+        _Interactive_data->Last_Motor_Temperature = _Interactive_data->Motor_Temperature;
+    }
 }

modules/referee/rm_referee.h

@@ -57,6 +57,8 @@ typedef struct
 	uint32_t Power_flag : 1;
     uint32_t Cap_flag : 1;
     uint32_t Vision_flag :1;
+    uint32_t MotorSpeed_flag:1;
+    uint32_t Temperature_flag:1;
 } Referee_Interactive_Flag_t;
 
 // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -68,9 +70,10 @@ typedef struct
 	gimbal_mode_e gimbal_mode;				 // 云台模式
 	shoot_mode_e shoot_mode;				 // 发射模式设置
 	friction_mode_e friction_mode;			 // 摩擦轮关闭
-	tele_mode_e tele_mode;					 // 弹舱盖打开
+	tele_mode_e tele_mode;					 // 倍镜打开关闭
 	Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
     uint8_t Vision_fire;
+    uint8_t Motor_Temperature;
 
 
 	// 上一次的模式，用于flag判断
@@ -81,6 +84,7 @@ typedef struct
 	tele_mode_e tele_last_mode;
 	Chassis_Power_Data_s Chassis_last_Power_Data;
     uint8_t last_Vision_fire;
+    uint8_t Last_Motor_Temperature;
 
 } Referee_Interactive_info_t;