#include "shoot.h" #include "robot_def.h" #include "dji_motor.h" #include "message_center.h" #include "bsp_dwt.h" #include "general_def.h" #include "servo_motor.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 ServoInstance *lid; static Publisher_t *shoot_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息 static Subscriber_t *shoot_sub; static Shoot_Upload_Data_s shoot_feedback_data; // 来自cmd的发射控制信息 // dwt定时,计算冷却用 static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0; void ShootInit() { // 左摩擦轮 Motor_Init_Config_s friction_config = { .can_init_config = { .can_handle = &hcan2, }, .controller_param_init_config = { .speed_PID = { .Kp = 1.5f, .Ki = 0.2f, .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, .MaxOut = 15000, }, .current_PID = { .Kp = 0, .Ki = 0, .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, .MaxOut = 15000, }, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP, }, .motor_type = M3508}; friction_config.can_init_config.tx_id = 2, friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; friction_l = DJIMotorInit(&friction_config); friction_config.can_init_config.tx_id = 3; // 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 = 1 }, .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 = 500, .Ki = 100, .Kd = 0, .MaxOut = 5000, }, .speed_PID = { .Kp = 2, // 3 .Ki = 0, // 1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 5000, .MaxOut = 10000, }, .current_PID = { .Kp = 0, // 0.7 .Ki = 0, // 0.1 .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 5000, .MaxOut = 5000, }, }, .controller_setting_init_config = { .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 = 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 //.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE, }, .motor_type = M2006 // 英雄使用m3508 }; loader = DJIMotorInit(&loader_config); shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); Servo_Init_Config_s lid_config = { .htim = &htim1, .Channel = TIM_CHANNEL_1, .Servo_type = Servo180, .Servo_Angle_Type = Free_Angle_mode, }; lid = ServoInit(&lid_config); // SPI_Init_Config_s rgb_config = { // .spi_handle = ; // .GPIOx = GPIOx; // .cs_pin = cs_pin; // .spi_work_mode = spi_work_mode; // .callback = callback; // .id = 1; // } } //卡弹检测 void stalled_detect() { static float last_detect_time = 0,detect_time = 0; static float last_total_angle = 0; static uint8_t stalled_cnt = 0; detect_time = DWT_GetTimeline_ms(); //last_detect_time + 200 > detect_time if(detect_time - last_detect_time < 200) // 200ms 检测一次 return; // reference_angle = (detect_time - last_detect_time) * loader->motor_controller.speed_PID.Ref * 1e-3f; // real_angle = loader->measure.total_angle - last_total_angle; if(shoot_cmd_recv.loader_mode == LOAD_BURSTFIRE) { //if(real_angle < reference_angle * 0.2f) if(abs(loader->measure.real_current)>=9500) { //stalled_cnt ++; shoot_feedback_data.stalled_flag = 1; } last_detect_time = DWT_GetTimeline_ms(); } // last_detect_time = DWT_GetTimeline_ms(); // last_total_angle = loader->measure.total_angle; } // 热量控制 //void Heat_control() //{ // if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) // { // DJIMotorStop(loader); // } // else // { // DJIMotorEnable(loader); // } //} /* 机器人发射机构控制核心任务 */ void ShootTask() { //从cmd获取控制数据 SubGetMessage(shoot_sub, &shoot_cmd_recv); // 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止) if (shoot_cmd_recv.shoot_mode == SHOOT_OFF) { DJIMotorSetRef(friction_l, 0); DJIMotorSetRef(friction_r, 0); DJIMotorStop(loader); } else // 恢复运行 { DJIMotorEnable(friction_l); 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; // 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.loader_mode) { // 停止拨盘 case LOAD_STOP: DJIMotorOuterLoop(loader, SPEED_LOOP); // 切换到速度环 DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快 break; // 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射) 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 break; // 三连发,如果不需要后续可能删除 case LOAD_3_BULLET: DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 DJIMotorSetRef(loader, loader->measure.total_angle - 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 dead_time = 1000; // 完成3发弹丸发射的时间 break; // 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz 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) 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); DJIMotorSetRef(loader, 8 * 360 * REDUCTION_RATIO_LOADER / 8); // 固定速度反转 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 dead_time = 100; // 翻转500ms shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志 // ... 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) if (shoot_cmd_recv.friction_mode == FRICTION_ON) { // 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); // break; // case SMALL_AMU_18: // DJIMotorSetRef(friction_l, 0); // DJIMotorSetRef(friction_r, 0); // break; // case SMALL_AMU_30: // DJIMotorSetRef(friction_l, 0); // 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, 39000); DJIMotorSetRef(friction_r, 39000); // break; // } } else // 关闭摩擦轮 { DJIMotorSetRef(friction_l, 0); DJIMotorSetRef(friction_r, 0); } // 开关弹舱盖 if (shoot_cmd_recv.lid_mode == LID_CLOSE) { Servo_Motor_FreeAngle_Set(lid,115);// 小107 大115 } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { Servo_Motor_FreeAngle_Set(lid,10); } // 开关热控 if(shoot_cmd_recv.heat_mode == HEAT_OPEN) { if(shoot_cmd_recv.heat>=(0.85*shoot_cmd_recv.heat_limit)) { DJIMotorStop(loader); } else { DJIMotorEnable(loader); } } else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) { DJIMotorEnable(loader); } //卡弹检测 stalled_detect(); // 热量控制 //Heat_control(); // 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 PubPushMessage(shoot_pub, (void *)&shoot_feedback_data); }