Compare commits
5 Commits
| Author | SHA1 | Date |
|---|---|---|
 周楚杰
|
7fc13a67e6 | |
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周楚杰
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c2388e74e5 | |
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周楚杰
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0bf1ba7f3e | |
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周楚杰
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29c6b56489 | |
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周楚杰
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0154d1164a |
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@ -1,6 +1,6 @@
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<component name="ProjectRunConfigurationManager">
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<configuration default="false" name="OCD basic_framework" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="basic_framework" TARGET_NAME="basic_framework.elf" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="basic_framework" RUN_TARGET_NAME="basic_framework.elf">
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<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="D:\CLion\Project\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
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<configuration default="false" name="OCD basic_framework" type="com.jetbrains.cidr.embedded.openocd.conf.type" factoryName="com.jetbrains.cidr.embedded.openocd.conf.factory" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="basic_framework" TARGET_NAME="basic_framework.elf" CONFIG_NAME="Debug" version="1" RUN_TARGET_PROJECT_NAME="basic_framework" RUN_TARGET_NAME="basic_framework.elf">
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<openocd version="1" gdb-port="3333" telnet-port="4444" board-config="C:\Users\24871\Desktop\RM\RM2024\basic_framework\daplink.cfg" reset-type="INIT" download-type="UPDATED_ONLY">
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<debugger kind="GDB" isBundled="true" />
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</openocd>
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<method v="2">
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@ -26,7 +26,7 @@
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*
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*----------------------------------------------------------------------------
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*
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* Portions Copyright © 2016 STMicroelectronics International N.V. All rights reserved.
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* Portions Copyright <EFBFBD> 2016 STMicroelectronics International N.V. All rights reserved.
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* Portions Copyright (c) 2013 ARM LIMITED
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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@ -103,6 +103,13 @@ void MX_GPIO_Init(void)
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(CS1_GYRO_GPIO_Port, &GPIO_InitStruct);
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/*Configure GPIO pin : PtPin */
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GPIO_InitStruct.Pin = GPIO_PIN_8;
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_PULLUP;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
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/* EXTI interrupt init*/
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HAL_NVIC_SetPriority(EXTI3_IRQn, 5, 0);
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HAL_NVIC_EnableIRQ(EXTI3_IRQn);
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@ -70,7 +70,7 @@ void ChassisInit()
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.MaxOut = 12000,
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},
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.current_PID = {
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.Kp = 0.5, // 0.4
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.Kp = 0.4, // 0.4
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.Ki = 0, // 0
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.Kd = 0,
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.IntegralLimit = 3000,
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@ -87,11 +87,11 @@ void ChassisInit()
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.motor_type = M3508,
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};
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// @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
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chassis_motor_config.can_init_config.tx_id = 1;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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chassis_motor_config.can_init_config.tx_id = 2;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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motor_lf = DJIMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 2;
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chassis_motor_config.can_init_config.tx_id = 1;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rf = DJIMotorInit(&chassis_motor_config);
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@ -100,7 +100,7 @@ void ChassisInit()
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motor_lb = DJIMotorInit(&chassis_motor_config);
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chassis_motor_config.can_init_config.tx_id = 3;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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motor_rb = DJIMotorInit(&chassis_motor_config);
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referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
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@ -134,7 +134,7 @@ void ChassisInit()
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chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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}
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//225+0+215-0
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#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * DEGREE_2_RAD)
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@ -145,10 +145,10 @@ void ChassisInit()
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*/
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static void MecanumCalculate()
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{
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vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
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vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
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vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
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vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
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vt_lf = chassis_vx + chassis_vy - chassis_cmd_recv.wz * (LF_CENTER-1);
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vt_rf = -chassis_vx + chassis_vy + chassis_cmd_recv.wz * (RF_CENTER-1);
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vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * (-LB_CENTER-1);
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vt_rb = -chassis_vx - chassis_vy + chassis_cmd_recv.wz * (-RB_CENTER-1);
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}
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/**
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@ -214,10 +214,10 @@ void ChassisTask()
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chassis_cmd_recv.wz = 0;
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break;
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case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出
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chassis_cmd_recv.wz = -1.5f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
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chassis_cmd_recv.wz = 2.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
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break;
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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
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chassis_cmd_recv.wz = 4000;
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chassis_cmd_recv.wz = 1600;
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break;
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default:
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break;
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@ -101,8 +101,15 @@ static void CalcOffsetAngle()
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
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#endif
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// if(chassis_cmd_send.offset_angle > 340.0f)
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// chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle - 360.0f;
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// else if(chassis_cmd_send.offset_angle < -340.0f)
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// chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle + 360.0f;
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// else
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// chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle;
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}
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/**
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* @brief 控制输入为遥控器(调试时)的模式和控制量设置
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*
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@ -110,14 +117,14 @@ static void CalcOffsetAngle()
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static void RemoteControlSet()
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{
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// 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?
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
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{
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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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
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{
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chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
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}
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@ -130,14 +137,17 @@ static void RemoteControlSet()
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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 += 0.005f * (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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gimbal_cmd_send.yaw += 0.003f * (float)rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.pitch += 0.0007f * (float)rc_data[TEMP].rc.rocker_l1;
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if(gimbal_cmd_send.pitch>=18.0) gimbal_cmd_send.pitch=18.0f;
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if(gimbal_cmd_send.pitch<=-40.0) gimbal_cmd_send.pitch=-40.0f;
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}
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// 云台软件限位
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// 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
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chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
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chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
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chassis_cmd_send.vx = 13.1f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
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chassis_cmd_send.vy = 13.1f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
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// 发射参数
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
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@ -152,7 +162,7 @@ static void RemoteControlSet()
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
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if (rc_data[TEMP].rc.dial < -500)
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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// 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,
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@ -21,14 +21,14 @@ void GimbalInit()
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// YAW
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Motor_Init_Config_s yaw_config = {
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.can_init_config = {
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.can_handle = &hcan1,
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.can_handle = &hcan2,
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.tx_id = 1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 8, // 8
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.Kp = 30, // 8
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.Ki = 0,
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.Kd = 0,
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.Kd = 1,
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.DeadBand = 0.1,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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@ -36,9 +36,9 @@ void GimbalInit()
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.MaxOut = 500,
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},
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.speed_PID = {
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.Kp = 50, // 50
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.Kp = 70, // 50
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.Ki = 200, // 200
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.Kd = 0,
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.Kd = 10,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 3000,
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.MaxOut = 20000,
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@ -52,7 +52,7 @@ void GimbalInit()
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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},
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.motor_type = GM6020};
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// PITCH
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@ -63,20 +63,20 @@ void GimbalInit()
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},
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.controller_param_init_config = {
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.angle_PID = {
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.Kp = 10, // 10
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.Ki = 0,
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.Kd = 0,
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.Kp = 15, // 10
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.Ki = 0.1f,
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.Kd = 1,
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 100,
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.MaxOut = 500,
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.IntegralLimit = 100,//100
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.MaxOut = 500,//500
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},
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.speed_PID = {
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.Kp = 50, // 50
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.Ki = 350, // 350
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.Kd = 0, // 0
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.Kp = 30, // 50
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.Ki = 0, // 350
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.Kd = 1, // 0
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.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
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.IntegralLimit = 2500,
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.MaxOut = 20000,
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.IntegralLimit = 150,//2500
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.MaxOut = 2000,//20000
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},
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.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
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// 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
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@ -87,9 +87,10 @@ void GimbalInit()
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.speed_feedback_source = OTHER_FEED,
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.outer_loop_type = ANGLE_LOOP,
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
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.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
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.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
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},
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.motor_type = GM6020,
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.motor_type = M3508,
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};
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// 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
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yaw_motor = DJIMotorInit(&yaw_config);
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@ -26,21 +26,21 @@
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/* 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 */
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// 云台参数
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#define YAW_CHASSIS_ALIGN_ECD 2711 // 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
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#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
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#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
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#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
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#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
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#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)
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#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)
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// 发射参数
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#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
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#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
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#define NUM_PER_CIRCLE 10 // 拨盘一圈的装载量
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#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
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#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
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#define NUM_PER_CIRCLE 5 // 拨盘一圈的装载量
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// 机器人底盘修改的参数,单位为mm(毫米)
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#define WHEEL_BASE 350 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 300 // 横向轮距(左右平移方向)
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#define WHEEL_BASE 420 // 纵向轴距(前进后退方向)
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#define TRACK_WIDTH 450 // 横向轮距(左右平移方向)
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#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
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#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
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||||
#define RADIUS_WHEEL 60 // 轮子半径
|
||||
#define RADIUS_WHEEL 75 // 轮子半径
|
||||
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
|
||||
|
||||
#define GYRO2GIMBAL_DIR_YAW 1 // 陀螺仪数据相较于云台的yaw的方向,1为相同,-1为相反
|
||||
|
|
@ -204,6 +204,7 @@ typedef struct
|
|||
{
|
||||
// code to go here
|
||||
// ...
|
||||
uint8_t stalled_flag; //堵转标志
|
||||
} Shoot_Upload_Data_s;
|
||||
|
||||
#pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
@ -18,6 +19,8 @@ static Shoot_Upload_Data_s shoot_feedback_data; // 来自cmd的发射控制信
|
|||
// dwt定时,计算冷却用
|
||||
static float hibernate_time = 0, dead_time = 0;
|
||||
|
||||
static uint16_t locked_time;
|
||||
|
||||
void ShootInit()
|
||||
{
|
||||
// 左摩擦轮
|
||||
|
|
@ -27,16 +30,16 @@ 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 +55,52 @@ 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
|
||||
.Kp = 130, // 10
|
||||
.Ki = 0,
|
||||
.Kd = 0,
|
||||
.MaxOut = 200,
|
||||
.MaxOut = 15000,
|
||||
},
|
||||
.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
|
||||
.Kp = 0.7f, // 0.7
|
||||
.Ki = 0, // 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);
|
||||
|
||||
|
|
@ -123,11 +127,10 @@ void ShootTask()
|
|||
DJIMotorEnable(friction_r);
|
||||
DJIMotorEnable(loader);
|
||||
}
|
||||
|
||||
// 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 +144,8 @@ 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:
|
||||
|
|
@ -155,17 +158,16 @@ 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
|
||||
case LOAD_REVERSE:
|
||||
DJIMotorOuterLoop(loader, SPEED_LOOP);
|
||||
// ...
|
||||
break;
|
||||
default:
|
||||
while (1)
|
||||
; // 未知模式,停止运行,检查指针越界,内存溢出等问题
|
||||
|
||||
}
|
||||
|
||||
// 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)
|
||||
|
|
@ -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 +211,8 @@ 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
|
||||
|
||||
//推送消息
|
||||
PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
|
||||
|
||||
}
|
||||
|
|
@ -1,6 +1,7 @@
|
|||
#ifndef SHOOT_H
|
||||
#define SHOOT_H
|
||||
|
||||
|
||||
/**
|
||||
* @brief 发射初始化,会被RobotInit()调用
|
||||
*
|
||||
|
|
|
|||
28
daplink.cfg
28
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
|
||||
# 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
|
||||
|
|
@ -265,11 +265,12 @@ void DJIMotorControl()
|
|||
}
|
||||
|
||||
// 计算速度环,(外层闭环为速度或位置)且(启用速度环)时会计算速度环
|
||||
|
||||
|
||||
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_measure = *motor_controller->other_speed_feedback_ptr;
|
||||
else // MOTOR_FEED
|
||||
|
|
|
|||
Loading…
Reference in New Issue