2022-12-05 22:07:44 +08:00
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# Work To be done & optimized
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- **待完成**：不完成可能导致整车功能不完整
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- **待优化**：对已有的功能进行性能提高/模块解耦/可维护性增强
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- **待添加**：不紧急的/锦上添花的功能
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**==标为黄色高亮的代表紧急程度高。==**
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## BSP
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### 待完成
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#### bsp_buzzer
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- [ ] 添加初始化完成时的音乐播放
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### 待优化
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#### bsp_buzzer
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2022-12-08 17:36:12 +08:00
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需要和**daemon**模块配合。
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2022-12-05 22:07:44 +08:00
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- [ ] 增加错误或异常提示音
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- [ ] 增加功能提示音
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#### bsp_led
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2022-12-08 17:36:12 +08:00
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需要和**daemon**模块配合。这同时会影响到module层的led_task，放在这一并解决。
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2022-12-05 22:07:44 +08:00
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- [ ] 增加错误或异常流水灯
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- [ ] 增加功能点灯
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### 待添加
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#### bsp_spi
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- [ ] 增加spi的板级支持包，供IMU使用和其他外接模块使用
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#### bsp_iic
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- [ ] 增加iic的板级支持包，供磁力计和OLED屏等使用
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- [ ] 增加软件iic的支持包
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#### bsp_gpio
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- [ ] 增加GPIO引脚的控制（有待商榷是否需要单独添加，HAL实际上已经提供较好的封装）
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#### bsp_usb
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- [ ] 增加usb的支持，用于虚拟串口或和PC进行高速通信
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#### bsp_blueteetch
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- [ ] 增加蓝牙功能，方便调试和测试
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#### bsp_wifi
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- [ ] 增加无线网络功能，方便调试和测试
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---
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## Module
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### 待完成
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#### ==servo_motor==
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舵机模块，需要预先定义90/180/360连续旋转的电机类型，并且能够设定max和min位置。
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- [ ] 编写舵机模块
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2022-12-08 17:36:12 +08:00
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#### ==daemon==
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2022-12-05 22:07:44 +08:00
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应用和模块监视功能，用于提供掉线和异常检测与应对机制，和底层的buzzer、led、oled等配合提供快速的问题定位。
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2022-12-08 17:36:12 +08:00
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- [ ] 编写daemon
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2022-12-05 22:07:44 +08:00
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#### LKMotor
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LK系列电机，目前仅用于平衡步兵驱动轮。后续可能使用其他瓴控电机。
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- [ ] 重构LKMotor模块
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#### HTMotor
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海泰04电机。目前仅用于平衡步兵关节电机。
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- [ ] 重构海泰电机模块
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#### imu
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- [ ] 增加角速度的反馈，并且能够获取加速度值（目前看来修改反馈数据类型定义即可）
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#### refereeUI
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- [ ] 提供UI绘制封装
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- [ ] 绘制电容剩余容量/当前底盘状态/当前云台状态/底盘位置/射表
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- [ ] 绘制视觉识别UI/识别状态/击打状态
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#### ==master_machine==
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- [ ] 增加IMU数据的时间戳
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- [ ] 增加加速度计数据
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- [ ] 重构seasky protocol的接口
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- [ ] 增加数据未更新的处理
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#### LQR
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- [ ] 通用的LQR控制器
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### 待优化
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#### imu
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需要重写部分数据结构，并在bsp_spi完成之后移植到新的bsp上。
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- [ ] 重构imu模块
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#### motor_task
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- [ ] 给不同的伺服机构添加不同的执行频率
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#### remote_control
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- [ ] 将键盘数据解析替换为位域操作
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#### referee
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- [ ] 优化三个裁判系统模块的组织关系
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#### message_center
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- [ ] 增加队列剩余信息和数据时间戳的支持
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#### can_comm
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- [ ] 增加can_comm数据未更新的处理
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#### controller
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- [ ] 增加前馈数据
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#### user_lib
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- [ ] 将所有通用的计算函数和常用函数汇集在此
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#### dji_motor
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- [ ] 增加3508和2006的开环零位校准函数
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- [ ] 为实例增加低通滤波系数变量，使不同电机有不同的配置
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### 待添加
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#### step_motor
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- [ ] 增加步进电机模块
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#### referee_communication
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- [ ] 增加裁判系统多机通信功能
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#### controller
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- [ ] 增加扰动观测器，可能需要新增模块
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- [ ] 增加模型控制器，可能需要新增模块
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#### master_process
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- [ ] 兼容其他通信方式，如can，spi，usb等
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---
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## APP
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### 待完成
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#### ==robot_cmd==
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- [ ] 键盘控制
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- [ ] 鼠标控制
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- [ ] 双板兼容
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#### ==chassis==
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- [ ] 根据裁判系统的功率数据和超级电容，进行输出限幅
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- [ ] 双板兼容
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#### ==shoot==
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- [ ] 优化单发模式的位置闭环（是否要改成速度闭环，然后定时？）
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- [ ] 增加卡弹检测和反转
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- [ ] 弹仓盖控制（需待servo_motor完成）
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- [ ] 双发射机构兼容
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- [ ] 42mm发射机构兼容
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### 待优化
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#### robot_cmd
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- [ ] 解耦各个应用的运行模式
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- [ ] 优化消息发布和接收性能
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#### gimbal
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- [ ] 增加不同模式之间的过渡（是否有必要？）
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- [ ] 增加底盘速度前馈控制
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#### chassis
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- [ ] 根据电机的实际速度计算底盘的真实运动
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- [ ] 若为双板，根据IMU的数据对电机实际速度进行融合
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- [ ] 增加不同模式之间的过渡（是否有必要？）
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#### shoot
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