自瞄模块，自瞄。读取裁判系统自动设置敌方颜色（待测试）
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@ -53,7 +53,7 @@ include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_D
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bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb
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modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
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modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd
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modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa
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modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim
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modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor
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application application/chassis application/cmd application/gimbal application/shoot
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Middlewares/Third_Party/SEGGER/RTT Middlewares/Third_Party/SEGGER/Config)
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@ -255,10 +255,11 @@ void ChassisTask() {
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// 根据电机的反馈速度和IMU(如果有)计算真实速度
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EstimateSpeed();
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// // 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
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// // 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
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// chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
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// // 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
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//todo: 裁判系统信息移植到消息中心发送
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// 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
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// 发送敌方方颜色id
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chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
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// 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
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// chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
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// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
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@ -8,6 +8,7 @@
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#include "message_center.h"
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#include "general_def.h"
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#include "dji_motor.h"
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#include "auto_aim.h"
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// bsp
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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@ -35,6 +36,12 @@ static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
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static SendPacket_t vision_send_data; // 视觉发送数据
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//自瞄相关信息
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static Trajectory_Type_t trajectory_cal;
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static Aim_Select_Type_t aim_select;
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static uint32_t no_find_cnt; // 未发现目标计数
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static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭
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static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
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static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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@ -120,19 +127,53 @@ static void RemoteControlSet() {
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}
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// 云台参数,确定云台控制数据
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if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式
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if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
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(vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制
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{
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// 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
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// ...
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}
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// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
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if (switch_is_down(rc_data[TEMP].rc.switch_left))//|| vision_recv_data->target_state == NO_TARGET
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{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
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gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
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if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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}
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// 左侧开关状态为[下],视觉模式
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if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
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trajectory_cal.v0 = 30; //弹速30
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if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
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aim_select.suggest_fire = 0;
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//未发现目标
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no_find_cnt++;
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if (no_find_cnt >= 2000) {
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//gimbal_scan_flag = 1;
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//auto_aim_flag = 0;
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}
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//else
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//auto_aim_flag = 1;
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} else {
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//弹道解算
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no_find_cnt = 0;
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auto_aim_flag = 1;
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auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
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gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;
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gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
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float yaw_err = fabsf(trajectory_cal.cmd_yaw - gimbal_cmd_send.yaw);
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if (yaw_err <= 0.008) //3度
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aim_select.suggest_fire = 1;
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else
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aim_select.suggest_fire = 0;
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}
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}
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// 云台软件限位
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@ -284,7 +325,8 @@ void RobotCMDTask() {
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// 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
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CalcOffsetAngle();
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// 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
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if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制
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if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
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switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
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RemoteControlSet();
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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
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MouseKeySet();
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@ -292,7 +334,7 @@ void RobotCMDTask() {
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EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
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// 设置视觉发送数据,还需增加加速度和角速度数据
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//VisionSetFlag(chassis_fetch_data.enemy_color,chassis_fetch_data.bullet_speed);
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VisionSetFlag(chassis_fetch_data.enemy_color);
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// 推送消息,双板通信,视觉通信等
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// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
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@ -189,8 +189,7 @@ typedef struct
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uint8_t rest_heat; // 剩余枪口热量
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Bullet_Speed_e bullet_speed; // 弹速限制
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Enemy_Color_e enemy_color; // 0 for blue, 1 for red
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Enemy_Color_e enemy_color; // 0 for red, 1 for blue
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} Chassis_Upload_Data_s;
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@ -0,0 +1,188 @@
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//
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// Created by sph on 2024/1/21.
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//
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#include "auto_aim.h"
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#include "arm_math.h"
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/**
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* @brief 选择目标装甲板
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* @author SJQ
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* @param[in] trajectory_cal:弹道解算结构体
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* @retval 返回空
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*/
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void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal) {
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aim_sel->delay_time = trajectory_cal->fly_time + trajectory_cal->extra_delay_time;
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aim_sel->target_state.yaw += aim_sel->target_state.v_yaw * aim_sel->delay_time;
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//计算四块装甲板的位置
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int use_1 = 1;
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int i = 0;
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int idx = 0; // 选择的装甲板
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// 为平衡步兵
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if (aim_sel->target_state.armor_num == 2) {
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for (i = 0; i < 2; i++) {
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float tmp_yaw = aim_sel->target_state.yaw + i * PI;
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float r = aim_sel->target_state.r1;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw);
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aim_sel->armor_pose[i].z = aim_sel->target_state.z;
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aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * PI;
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}
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float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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//因为是平衡步兵 只需判断两块装甲板即可
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float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[1].yaw);
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if (temp_yaw_diff < yaw_diff_min) {
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yaw_diff_min = temp_yaw_diff;
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idx = 1;
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}
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} else if (aim_sel->target_state.armor_num == 3)//前哨站
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{
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for (i = 0; i < 3; i++) {
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float tmp_yaw;
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if (aim_sel->target_state.v_yaw <= 0)
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tmp_yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0);
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else
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tmp_yaw = aim_sel->target_state.yaw - i * (2.0 * PI / 3.0);
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float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * cos(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * sin(tmp_yaw);
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aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z +
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aim_sel->target_state.dz;
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aim_sel->armor_pose[i].yaw = aim_sel->target_state.yaw + i * (2.0 * PI / 3.0);
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use_1 = !use_1;
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}
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//计算枪管到目标装甲板yaw最小的那个装甲板
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float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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for (i = 1; i < 3; i++) {
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float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
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if (temp_yaw_diff < yaw_diff_min) {
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yaw_diff_min = temp_yaw_diff;
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idx = i;
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}
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}
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} else {
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for (i = 0; i < 4; i++) {
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float tmp_yaw = aim_sel->target_state.yaw + i * PI / 2.0;
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float r = use_1 ? aim_sel->target_state.r1 : aim_sel->target_state.r2;
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aim_sel->armor_pose[i].x = aim_sel->target_state.x - r * arm_cos_f32(tmp_yaw);
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aim_sel->armor_pose[i].y = aim_sel->target_state.y - r * arm_sin_f32(tmp_yaw);
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aim_sel->armor_pose[i].z = use_1 ? aim_sel->target_state.z : aim_sel->target_state.z +
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aim_sel->target_state.dz;
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aim_sel->armor_pose[i].yaw = tmp_yaw;
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use_1 = !use_1;
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}
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//计算枪管到目标装甲板yaw最小的那个装甲板
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float yaw_diff_min = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[0].yaw);
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for (i = 1; i < 4; i++) {
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float temp_yaw_diff = fabsf(trajectory_cal->cmd_yaw - aim_sel->armor_pose[i].yaw);
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if (temp_yaw_diff < yaw_diff_min) {
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yaw_diff_min = temp_yaw_diff;
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idx = i;
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}
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}
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}
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aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x + aim_sel->target_state.vx * aim_sel->delay_time;
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aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + aim_sel->target_state.vy * aim_sel->delay_time;
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aim_sel->aim_point[2] = aim_sel->armor_pose[idx].z + aim_sel->target_state.vz * aim_sel->delay_time;
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}
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/**
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* @brief 子弹飞行时间解算
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* @author SJQ
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* @param[in] x:瞄准时shooter_link下目标x坐标
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* @param[in] vx:瞄准时shooter_link下目标x速度
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* @param[in] v_x0:弹速水平分量
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* @retval 返回空
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*/
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const float k1 = 0.0761; //标准大气压25度下空气阻力系数
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float get_fly_time(float x, float vx, float v_x0) {
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float t = 0;
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float f_ti = 0, df_ti = 0;
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for (int i = 0; i < 5; i++) {
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f_ti = log(k1 * v_x0 * t + 1) / k1 - x - vx * t;
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df_ti = v_x0 / (k1 * v_x0 * t + 1) - vx;
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t = t - f_ti / df_ti;
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}
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return t;
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}
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/**
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* @brief 解算期望云台角度（考虑子弹飞行时间）
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* @author SJQ
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* @param[in] trajectory_cal:弹道解算结构体
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* @retval 返回空
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*/
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void get_cmd_angle(Trajectory_Type_t *trajectory_cal) {
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arm_power_f32(trajectory_cal->position_xy, 2, &trajectory_cal->dis2);
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arm_sqrt_f32(trajectory_cal->dis2, &trajectory_cal->dis);
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trajectory_cal->dis = trajectory_cal->dis - 0.20;
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trajectory_cal->theta_0 = atan2f(trajectory_cal->z, trajectory_cal->dis);
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trajectory_cal->alpha = atan2f(trajectory_cal->position_xy[1], trajectory_cal->position_xy[0]);
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//将目标的xyz速度转化为平行枪管与垂直枪管的速度
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trajectory_cal->vx = trajectory_cal->velocity[0] * arm_cos_f32(trajectory_cal->alpha)
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+ trajectory_cal->velocity[1] * arm_sin_f32(trajectory_cal->alpha);
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trajectory_cal->vy = -trajectory_cal->velocity[0] * arm_sin_f32(trajectory_cal->alpha)
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+ trajectory_cal->velocity[1] * arm_cos_f32(trajectory_cal->alpha);
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float v_x0 = trajectory_cal->v0 * arm_cos_f32(trajectory_cal->theta_0);//水平方向弹速
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float v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_0);//竖直方向弹速
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trajectory_cal->fly_time = get_fly_time(trajectory_cal->dis, trajectory_cal->vx, v_x0);
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arm_power_f32(&trajectory_cal->fly_time, 1, &trajectory_cal->fly_time2);
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trajectory_cal->h_r = trajectory_cal->z + trajectory_cal->velocity[2] * trajectory_cal->fly_time;
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//开始迭代
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trajectory_cal->theta_k = trajectory_cal->theta_0;
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trajectory_cal->k = 0;
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while (trajectory_cal->k < 10) {
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v_y0 = trajectory_cal->v0 * arm_sin_f32(trajectory_cal->theta_k);//竖直方向弹速
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trajectory_cal->h_k = v_y0 * trajectory_cal->fly_time - 0.5 * 9.8 * trajectory_cal->fly_time2;
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trajectory_cal->err_k = trajectory_cal->h_r - trajectory_cal->h_k;
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trajectory_cal->theta_k += 0.1 * trajectory_cal->err_k;
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trajectory_cal->k++;
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if (trajectory_cal->err_k < 0.005) break;
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}
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trajectory_cal->cmd_yaw = atan2f(trajectory_cal->position_xy[1],
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trajectory_cal->position_xy[0]);
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trajectory_cal->cmd_pitch = trajectory_cal->theta_k;
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}
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void auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
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trajectory_cal->extra_delay_time = 0.025;//0.025
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aim_sel->target_state.armor_type = receive_packet->id;
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aim_sel->target_state.armor_num = receive_packet->armors_num;
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aim_sel->target_state.x = receive_packet->x;
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aim_sel->target_state.y = receive_packet->y;
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aim_sel->target_state.z = receive_packet->z;
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aim_sel->target_state.vx = receive_packet->vx;
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aim_sel->target_state.vy = receive_packet->vy;
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aim_sel->target_state.vz = receive_packet->vz;
|
||||
aim_sel->target_state.yaw = receive_packet->yaw;
|
||||
aim_sel->target_state.v_yaw = receive_packet->v_yaw;
|
||||
aim_sel->target_state.r1 = receive_packet->r1;
|
||||
aim_sel->target_state.r2 = receive_packet->r2;
|
||||
aim_sel->target_state.dz = receive_packet->dz;
|
||||
|
||||
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];
|
||||
trajectory_cal->z = aim_sel->aim_point[2];
|
||||
trajectory_cal->velocity[0] = aim_sel->target_state.vx;
|
||||
trajectory_cal->velocity[1] = aim_sel->target_state.vy;
|
||||
trajectory_cal->velocity[2] = aim_sel->target_state.vz;
|
||||
|
||||
get_cmd_angle(trajectory_cal);
|
||||
|
||||
}
|
||||
|
|
@ -27,7 +27,7 @@ static DaemonInstance *vision_daemon_instance;
|
|||
//}
|
||||
void VisionSetFlag(Enemy_Color_e enemy_color)
|
||||
{
|
||||
send_data.robot_color = enemy_color;
|
||||
send_data.detect_color = enemy_color;
|
||||
send_data.reserved = 0;
|
||||
}
|
||||
|
||||
|
|
@ -177,7 +177,7 @@ void VisionSend()
|
|||
static uint8_t send_buffer[24]={0};
|
||||
|
||||
send_data.header = 0x5A;
|
||||
VisionSetFlag(1);
|
||||
//VisionSetFlag(1);
|
||||
VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
|
||||
send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);
|
||||
|
||||
|
|
|
|||
|
|
@ -45,8 +45,8 @@ typedef enum {
|
|||
// COLOR_NONE = 0,
|
||||
// COLOR_BLUE = 1,
|
||||
// COLOR_RED = 2,
|
||||
COLOR_RED = 0,
|
||||
COLOR_BLUE = 1,
|
||||
ENEMY_COLOR_RED = 0,
|
||||
ENEMY_COLOR_BLUE = 1,
|
||||
} Enemy_Color_e;
|
||||
|
||||
typedef enum {
|
||||
|
|
@ -76,7 +76,7 @@ typedef struct {
|
|||
|
||||
typedef __packed struct {
|
||||
uint8_t header;//0x5A
|
||||
uint8_t robot_color: 1;
|
||||
uint8_t detect_color: 1;
|
||||
uint8_t reserved: 7;
|
||||
float pitch;
|
||||
float yaw;
|
||||
|
|
|
|||
|
|
@ -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 0
|
||||
#define Robot_Blue 1
|
||||
#define Robot_Red 1
|
||||
#define Robot_Blue 0
|
||||
#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)
|
||||
|
|
|
|||
|
|
@ -28,7 +28,7 @@ uint8_t UI_Seq; // 包序号，供整个ref
|
|||
*/
|
||||
static void DeterminRobotID()
|
||||
{
|
||||
// id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1
|
||||
// id小于7是红色,大于7是蓝色 #define Robot_Red 0 #define Robot_Blue 1
|
||||
referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
|
||||
referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
|
||||
referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
|
||||
|
|
|
|||
Loading…
Reference in New Issue