HFUT_Firmament_EC
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basic_framework
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自瞄初步测试完毕

This commit is contained in:
sph 2024-03-03 20:55:19 +08:00
parent e2f57ad306
commit e78845b802
4 changed files with 26 additions and 8 deletions
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24
application/cmd/robot_cmd.c
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@ -118,7 +118,9 @@ 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
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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
{
@ -131,7 +133,7 @@ static void RemoteControlSet() {
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// }
// 云台参数,确定云台控制数据
// 云台参数,确定云台控制数据
if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
(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 &&
@ -139,6 +141,7 @@ static void RemoteControlSet() {
{
// 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
// ...
aim_select.suggest_fire = 0;
gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
@ -169,6 +172,8 @@ static void RemoteControlSet() {
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;
gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
@ -191,16 +196,29 @@ static void RemoteControlSet() {
; // 弹舱舵机控制,待添加servo_motor模块,开启
else; // 弹舱舵机控制,待添加servo_motor模块,关闭
// 摩擦轮控制,拨轮向上打为负,向下为正
if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
shoot_cmd_send.friction_mode = FRICTION_ON;
else
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)
if (rc_data[TEMP].rc.dial < -500 )//
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
// 视觉控制发射
if (aim_select.suggest_fire == 1) {
//shoot_cmd_send.friction_mode = FRICTION_ON;
//shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
} else {
//shoot_cmd_send.friction_mode = FRICTION_OFF;
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;
}

4
application/shoot/shoot.c
View File

@ -217,8 +217,8 @@ void ShootTask()
// DJIMotorSetRef(friction_r, 0);
// 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, 40000);
DJIMotorSetRef(friction_r, 40000);
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
// break;
// }
}

2
modules/auto_aim/auto_aim.c
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@ -158,7 +158,7 @@ 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) {
trajectory_cal->extra_delay_time = 0.025;//0.025
trajectory_cal->extra_delay_time = 0.035;//0.025
aim_sel->target_state.armor_type = receive_packet->id;
aim_sel->target_state.armor_num = receive_packet->armors_num;

4
modules/master_machine/master_process.c
View File

@ -177,8 +177,8 @@ void VisionSend()
static uint8_t send_buffer[24]={0};
send_data.header = 0x5A;
//VisionSetFlag(1);
VisionSetAim(recv_data.x,recv_data.y,recv_data.z);
// VisionSetFlag(data->detect_color);
// VisionSetAim(data->aim_x,data->aim_y,data->aim_z);
send_data.checksum = crc_16(&send_data.header,sizeof(send_data)-2);
memcpy(send_buffer,&send_data,sizeof(send_data));