From 2dd39f98153e192ad7a864f3488ee10d90a55f26 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Wed, 7 Dec 2022 21:56:34 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E9=81=A5=E6=8E=A7?= =?UTF-8?q?=E5=99=A8=E6=8E=A7=E5=88=B6,=E5=BE=85=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 2 +- application/cmd/robot_cmd.c | 74 ++++++++++++++++++++++++++------- application/robot_def.h | 2 +- modules/remote/remote.md | 16 ++++++- modules/remote/remote_control.c | 37 ++++++++--------- modules/remote/remote_control.h | 4 +- 6 files changed, 95 insertions(+), 40 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index 5bd02f6..3a53a10 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -38,7 +38,7 @@ "typeinfo": "c", "general_def.h": "c", "super_cap.h": "c", - "motor_def.h": "c" + "motor_def.h": "c", }, "C_Cpp.default.configurationProvider": "ms-vscode.makefile-tools", } \ No newline at end of file diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 552fb1b..08711a2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -81,36 +81,78 @@ static void CalcOffsetAngle() * @brief 输入为遥控器(调试时)的模式和控制量设置 * */ -static void RemoteControlSetMode() +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(remote_control_data[0].rc.s[1])) // 右侧开关状态[下],底盘跟随云台 + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + if (switch_is_mid(remote_control_data[0].rc.s[1])) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动 + chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; + + // 云台参数,确定云台控制数据 + if (switch_is_mid(remote_control_data[0].rc.s[0])) // 左侧开关状态为[中],视觉模式 + { + // 待添加 + // ... + } + // 侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 + if (switch_is_down(remote_control_data[0].rc.s[0]) || vision_recv_data->target_state == NO_TARGET) + { // 按照摇杆的输出大小进行角度增量,增益系数需调整 + gimbal_cmd_send.yaw += 0.04f * (float)remote_control_data[0].rc.joystick[2]; + gimbal_cmd_send.pitch = 0.5f * (float)remote_control_data[0].rc.joystick[3]; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + } + + + // 底盘参数,目前没有加入小陀螺(调试似乎没有必要),系数需要调整 + chassis_cmd_send.vx = 1.0f * (float)remote_control_data[0].rc.joystick[0]; + chassis_cmd_send.vy = 1.0f * (float)remote_control_data[0].rc.joystick[1]; + + + // 发射参数 + if (switch_is_up(remote_control_data[0].rc.s[1])) //右侧开关状态[上],弹舱打开 + ; //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,后续可以根据左侧拨轮的值大小切换射频 + if(remote_control_data[0].rc.joystick[4]>100) + shoot_cmd_send.shoot_mode=FRICTION_ON; + else + shoot_cmd_send.shoot_mode=FRICTION_OFF; + // 拨弹控制,目前固定为连发 + if(remote_control_data[0].rc.joystick[4]>500) + shoot_cmd_send.load_mode=LOAD_BURSTFIRE; + else + shoot_cmd_send.load_mode=LOAD_STOP; + } /** * @brief 输入为键鼠时模式和控制量设置 * */ -static void MouseKeySetMode() +static void MouseKeySet() { } /** * @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等 * '300'待修改成合适的值,或改为开关控制 - * + * */ static void EmergencyHandler() { - if(remote_control_data[0].joy_stick.ch[4]<-300)//还需添加重要应用和模块离线的判断 + // 拨轮的向下拨超过一半 + if (remote_control_data[0].rc.joystick[4] < -300) // 还需添加重要应用和模块离线的判断 { - robot_state=ROBOT_STOP; // 遥控器左上侧拨轮打满,进入紧急停止模式 - gimbal_cmd_send.gimbal_mode==GIMBAL_ZERO_FORCE; - chassis_cmd_send.chassis_mode==CHASSIS_ZERO_FORCE; - shoot_cmd_send.shoot_mode==SHOOT_STOP; + robot_state = ROBOT_STOP; // 遥控器左上侧拨轮打满,进入紧急停止模式 + gimbal_cmd_send.gimbal_mode == GIMBAL_ZERO_FORCE; + chassis_cmd_send.chassis_mode == CHASSIS_ZERO_FORCE; + shoot_cmd_send.shoot_mode == SHOOT_STOP; return; } - // if(remote_control_data[0].joy_stick.ch[4]>300 && 各个模块正常) + // if(remote_control_data[0].rc.joystick[4]>300 && 各个模块正常) // { // //恢复运行 // //... @@ -127,14 +169,14 @@ void GimbalCMDTask() // 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过私有变量完成 CalcOffsetAngle(); - if (1) // 遥控器控制 - RemoteControlSetMode(); - else if (0) // 键盘控制 - MouseKeySetMode(); - + if (switch_is_down(remote_control_data[0].rc.s[0])) // 遥控器左侧开关状态为[下],遥控器控制 + RemoteControlSet(); + else if (switch_is_up(remote_control_data[0].rc.s[0])) // 遥控器左侧开关状态为[上],键盘控制 + MouseKeySet(); + EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 - // 设置视觉发送数据,work_mode在前一部分设置 + // 设置视觉发送数据 vision_send_data.bullet_speed = chassis_fetch_data.bullet_speed; vision_send_data.enemy_color = chassis_fetch_data.enemy_color; vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; diff --git a/application/robot_def.h b/application/robot_def.h index 7dc9619..07bd0cf 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -85,7 +85,7 @@ typedef enum typedef enum { GIMBAL_ZERO_FORCE, // 电流零输入 - GIMBAL_FREE_MODE, // 云台自由运动模式,即与底盘分离(底盘此时应为NO_FOLLOW)反馈值为电机total_angle + GIMBAL_FREE_MODE, // 云台自由运动模式,即与底盘分离(底盘此时应为NO_FOLLOW)反馈值为电机total_angle;似乎可以改为全部用IMU数据? GIMBAL_GYRO_MODE, // 云台陀螺仪反馈模式,反馈值为陀螺仪pitch,total_yaw_angle,底盘可以为小陀螺和跟随模式 } gimbal_mode_e; diff --git a/modules/remote/remote.md b/modules/remote/remote.md index 401be35..21c12aa 100644 --- a/modules/remote/remote.md +++ b/modules/remote/remote.md @@ -67,4 +67,18 @@ remote_control * Bit14:V键 * * Bit15:B键 * **************************************************************/ -``` \ No newline at end of file +``` + + + +拨轮向下打到底进入紧急停止模式;拨轮向上打开启摩擦轮,超过一半开始发射(速度环,连发) + +左侧开关: +- 上:键鼠控制 +- 中:视觉控制(没有识别到目标的时候仍然可以使用遥控器控制云台) +- 下:遥控器控制 + +右侧开关: +- 上:弹舱开 +- 中:底盘云台分离(底盘不旋转,全向移动) +- 下:底盘跟随云台 diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 35690b8..a7e454c 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -19,14 +19,14 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf) { memcpy(&rc_ctrl[1], &rc_ctrl[0], sizeof(RC_ctrl_t)); // 保存上一次的数据 // 摇杆 - rc_ctrl[0].joy_stick.ch[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0 - rc_ctrl[0].joy_stick.ch[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1 - rc_ctrl[0].joy_stick.ch[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2 - rc_ctrl[0].joy_stick.ch[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3 - rc_ctrl[0].joy_stick.ch[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮 + rc_ctrl[0].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff; //!< Channel 0 + rc_ctrl[0].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff; //!< Channel 1 + rc_ctrl[0].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff; //!< Channel 2 + rc_ctrl[0].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff; //!< Channel 3 + rc_ctrl[0].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8); // 拨轮 // 开关,0左1右 - rc_ctrl[0].joy_stick.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left - rc_ctrl[0].joy_stick.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right + rc_ctrl[0].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left + rc_ctrl[0].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right // 鼠标解析 rc_ctrl[0].mouse.x = sbus_buf[6] | (sbus_buf[7] << 8); //!< Mouse X axis @@ -55,20 +55,19 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf) } // 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位 - *(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS]= (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8)); - *(uint16_t*)&rc_ctrl[0].key_test[KEY_STATE]=*(uint16_t*)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t*)&(rc_ctrl[1].key_test[KEY_PRESS])); - if(rc_ctrl[0].key_test[KEY_PRESS].ctrl) - rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL]=rc_ctrl[0].key_test[KEY_PRESS]; - if(rc_ctrl[0].key_test[KEY_PRESS].shift) - rc_ctrl[0].key_test[Key_Shift]=rc_ctrl[0].key_test[KEY_PRESS]; - + *(uint16_t *)&rc_ctrl[0].key_test[KEY_PRESS] = (uint16_t)(sbus_buf[14] | (sbus_buf[15] << 8)); + *(uint16_t *)&rc_ctrl[0].key_test[KEY_STATE] = *(uint16_t *)&rc_ctrl[0].key_test[KEY_PRESS] & ~(*(uint16_t *)&(rc_ctrl[1].key_test[KEY_PRESS])); + if (rc_ctrl[0].key_test[KEY_PRESS].ctrl) + rc_ctrl[0].key_test[KEY_PRESS_WITH_CTRL] = rc_ctrl[0].key_test[KEY_PRESS]; + if (rc_ctrl[0].key_test[KEY_PRESS].shift) + rc_ctrl[0].key_test[Key_Shift] = rc_ctrl[0].key_test[KEY_PRESS]; // 减去偏置值 - rc_ctrl[0].joy_stick.ch[0] -= RC_CH_VALUE_OFFSET; - rc_ctrl[0].joy_stick.ch[1] -= RC_CH_VALUE_OFFSET; - rc_ctrl[0].joy_stick.ch[2] -= RC_CH_VALUE_OFFSET; - rc_ctrl[0].joy_stick.ch[3] -= RC_CH_VALUE_OFFSET; - rc_ctrl[0].joy_stick.ch[4] -= RC_CH_VALUE_OFFSET; + rc_ctrl[0].rc.joystick[0] -= RC_CH_VALUE_OFFSET; + rc_ctrl[0].rc.joystick[1] -= RC_CH_VALUE_OFFSET; + rc_ctrl[0].rc.joystick[2] -= RC_CH_VALUE_OFFSET; + rc_ctrl[0].rc.joystick[3] -= RC_CH_VALUE_OFFSET; + rc_ctrl[0].rc.joystick[4] -= RC_CH_VALUE_OFFSET; } /** diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h index b0cd2a2..1dc6f76 100644 --- a/modules/remote/remote_control.h +++ b/modules/remote/remote_control.h @@ -80,9 +80,9 @@ typedef struct { struct { - int16_t ch[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4 + int16_t joystick[5]; // 右|0 ,右-1 ,左-2 ,左|3 ,拨轮4 uint8_t s[2]; //[0]:left [1]:right - } joy_stick; + } rc; struct { int16_t x;