From db78ccef10c59af3b09279d6b45d95650cd47bfe Mon Sep 17 00:00:00 2001 From: NeoZng Date: Mon, 5 Dec 2022 16:35:21 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90app=E5=B1=82=E5=9F=BA?= =?UTF-8?q?=E6=9C=AC=E6=A1=86=E6=9E=B6=E7=9A=84=E6=90=AD=E5=BB=BA,TODOwork?= =?UTF-8?q?=E5=8D=95=E7=8B=AC=E5=88=9B=E5=BB=BA=E4=BA=86md=E6=96=87?= =?UTF-8?q?=E6=A1=A3,=E6=8F=90=E7=A4=BA=E6=AF=8F=E4=B8=AA=E6=A8=A1?= =?UTF-8?q?=E5=9D=97=E5=B0=9A=E6=9C=AA=E5=AE=8C=E6=88=90=E7=9A=84=E5=B7=A5?= =?UTF-8?q?=E4=BD=9C=E5=92=8C=E4=BC=98=E5=8C=96=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/cmd/robot_cmd.c | 114 +++++++++++++++++++++++++++--------- application/gimbal/gimbal.c | 3 - application/robot_def.h | 6 +- 3 files changed, 89 insertions(+), 34 deletions(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 3a3a610..aec5bd0 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -5,60 +5,118 @@ #include "master_process.h" #include "message_center.h" #include "general_def.h" +#include "dji_motor.h" + +// 自动将编码器转换成角度值 +#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF) +#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF) /* gimbal_cmd应用包含的模块实例指针和交互信息存储*/ #ifndef ONE_BOARD #include "can_comm.h" static CANCommInstance *chasiss_can_comm; // 双板通信 -#endif // !ONE_BOARD -static RC_ctrl_t *remote_control_data; // 遥控器数据 -static Vision_Recv_s *vision_recv_data; // 视觉接收数据 -static Vision_Send_s *vision_send_data; // 视觉发送数据 +#endif // !ONE_BOARD + +static RC_ctrl_t *remote_control_data; // 遥控器数据,初始化时返回 +static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回 +static Vision_Send_s vision_send_data; // 视觉发送数据 static Publisher_t *gimbal_cmd_pub; static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 -static Subscriber_t *gimbal_cmd_feed_sub; +static Subscriber_t *gimbal_feed_sub; static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 -static Subscriber_t *shoot_cmd_feed_sub; +static Subscriber_t *shoot_feed_sub; static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 static Publisher_t *chassis_cmd_pub; static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关 -static Subscriber_t *chassis_cmd_feed_sub; +static Subscriber_t *chassis_feed_sub; static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等 -static void CalcOffsetAngle() -{ -} - -static void SetRobotMode() -{ -} - -static void SetCtrlData() -{ -} - -static void SetCtrlMessage() -{ -} - void GimbalCMDInit() { - remote_control_data = RC_init(&huart3); - vision_recv_data = VisionInit(&huart1); + remote_control_data = RC_init(&huart3); // 修改为对应串口,注意dbus协议串口需加反相器 + vision_recv_data = VisionInit(&huart1); // 视觉通信串口 gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); - gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); + gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); - shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); + shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s)); - chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s)); + chassis_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s)); +} + +/** + * @brief 根据gimbal app传回的当前电机角度计算和零位的误差 + * 单圈绝对角度的范围是0~360,说明文档中有图示 + * + */ +static void CalcOffsetAngle() +{ + static float angle; // 提高可读性,不然太长了不好看,虽然基本不会动这个函数 + angle = gimbal_fetch_data.yaw_motor_single_round_angle; +#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度 + if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; + else if (angle > 180.0f + YAW_ALIGN_ANGLE) + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f; + else + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; +#else // 小于180度 + if (angle > YAW_ALIGN_ANGLE) + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; + else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f) + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; + else + chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f; +#endif +} + +/** + * @brief 输入为遥控器(调试时)的模式和控制量设置 + * + */ +static void RemoteControlSetMode() +{ +} + +/** + * @brief 输入为键鼠时模式和控制量设置 + * + */ +static void MouseKeySetMode() +{ } void GimbalCMDTask() { + // 从其他应用获取回传数据 + SubGetMessage(chassis_feed_sub, &chassis_fetch_data); + SubGetMessage(shoot_feed_sub, &shoot_fetch_data); + SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data); + + // 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(); + + // 设置视觉发送数据,work_mode在前一部分设置 + 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; + vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw; + vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll; + + // 推送消息,双板通信,视觉通信等 + // 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 + PubPushMessage(chassis_cmd_pub, &chassis_cmd_send); + PubPushMessage(shoot_cmd_pub, &shoot_cmd_send); + PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send); + VisionSend(&vision_send_data); } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index f0d0e20..7f6634b 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -5,9 +5,6 @@ #include "message_center.h" #include "general_def.h" -// 自动将编码器转换成角度值 -#define YAW_CHASSIS_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF) -#define PTICH_HORIZON_ALIGN_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF) static attitude_t *Gimbal_IMU_data; // 云台IMU数据 static dji_motor_instance *yaw_motor; // yaw电机 diff --git a/application/robot_def.h b/application/robot_def.h index e31669f..bbe34bf 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -24,8 +24,9 @@ /* 重要参数定义,注意根据不同机器人进行修改 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD 0 // 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 -#define PITCH_HORIZON_ECD 0 // 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 +#define YAW_CHASSIS_ALIGN_ECD 0 // 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 +#define YAW_ECD_GREATER_THAN_4096 0 // yaw电机的初始编码器值是否大于4096,是为1,否为0 +#define PITCH_HORIZON_ECD 0 // 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 // 发射参数 #define ONE_BULLET_DELTA_ANGLE 0 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 #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 @@ -38,7 +39,6 @@ #define RADIUS_WHEEL 60 // 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 - #if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \ (defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \ (defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))