自瞄初步测试完毕

application/cmd/robot_cmd.c

@@ -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;
 }

application/shoot/shoot.c

@@ -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_l, 30000);
-                DJIMotorSetRef(friction_r, 40000);
+                DJIMotorSetRef(friction_r, 30000);
 //                break;
 //        }
     }

modules/auto_aim/auto_aim.c

@@ -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;

modules/master_machine/master_process.c

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