完成app层基本框架的搭建,TODOwork单独创建了md文档,提示每个模块尚未完成的工作和优化点
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NeoZng
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3c8ffda61d
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db78ccef10
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@ -5,60 +5,118 @@
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#include "master_process.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "dji_motor.h"
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// 自动将编码器转换成角度值
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#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF)
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#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
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/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
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#ifndef ONE_BOARD
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#include "can_comm.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信
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#endif // !ONE_BOARD
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static RC_ctrl_t *remote_control_data; // 遥控器数据
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static Vision_Recv_s *vision_recv_data; // 视觉接收数据
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static Vision_Send_s *vision_send_data; // 视觉发送数据
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static RC_ctrl_t *remote_control_data; // 遥控器数据,初始化时返回
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static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
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static Vision_Send_s vision_send_data; // 视觉发送数据
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static Publisher_t *gimbal_cmd_pub;
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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static Subscriber_t *gimbal_cmd_feed_sub;
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static Subscriber_t *gimbal_feed_sub;
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static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *shoot_cmd_pub;
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
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static Subscriber_t *shoot_cmd_feed_sub;
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static Subscriber_t *shoot_feed_sub;
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static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Publisher_t *chassis_cmd_pub;
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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
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static Subscriber_t *chassis_cmd_feed_sub;
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static Subscriber_t *chassis_feed_sub;
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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
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static void CalcOffsetAngle()
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{
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}
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static void SetRobotMode()
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{
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}
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static void SetCtrlData()
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{
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}
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static void SetCtrlMessage()
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{
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}
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void GimbalCMDInit()
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{
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remote_control_data = RC_init(&huart3);
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vision_recv_data = VisionInit(&huart1);
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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
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vision_recv_data = VisionInit(&huart1); // 视觉通信串口
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
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chassis_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
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}
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/**
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* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
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* 单圈绝对角度的范围是0~360,说明文档中有图示
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*
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*/
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static void CalcOffsetAngle()
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{
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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
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angle = gimbal_fetch_data.yaw_motor_single_round_angle;
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#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
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if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle > 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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#else // 小于180度
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if (angle > YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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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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}
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/**
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* @brief 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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*/
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static void RemoteControlSetMode()
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{
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}
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/**
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* @brief 输入为键鼠时模式和控制量设置
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*
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*/
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static void MouseKeySetMode()
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{
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}
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void GimbalCMDTask()
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{
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// 从其他应用获取回传数据
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SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
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SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
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SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
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// 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
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CalcOffsetAngle();
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if (1) // 遥控器控制
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RemoteControlSetMode();
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else if (0) // 键盘控制
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MouseKeySetMode();
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// 设置视觉发送数据,work_mode在前一部分设置
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vision_send_data.bullet_speed=chassis_fetch_data.bullet_speed;
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vision_send_data.enemy_color=chassis_fetch_data.enemy_color;
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vision_send_data.pitch=gimbal_fetch_data.gimbal_imu_data.Pitch;
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vision_send_data.yaw=gimbal_fetch_data.gimbal_imu_data.Yaw;
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vision_send_data.roll=gimbal_fetch_data.gimbal_imu_data.Roll;
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// 推送消息,双板通信,视觉通信等
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// 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
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PubPushMessage(chassis_cmd_pub, &chassis_cmd_send);
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PubPushMessage(shoot_cmd_pub, &shoot_cmd_send);
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PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send);
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VisionSend(&vision_send_data);
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}
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@ -5,9 +5,6 @@
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#include "message_center.h"
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#include "general_def.h"
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// 自动将编码器转换成角度值
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#define YAW_CHASSIS_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF)
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#define PTICH_HORIZON_ALIGN_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
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static attitude_t *Gimbal_IMU_data; // 云台IMU数据
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static dji_motor_instance *yaw_motor; // yaw电机
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@ -25,6 +25,7 @@
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/* 重要参数定义,注意根据不同机器人进行修改 */
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// 云台参数
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#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
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#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
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#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
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// 发射参数
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#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
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@ -38,7 +39,6 @@
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#define RADIUS_WHEEL 60 // 轮子半径
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#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
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#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
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(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \
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(defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))
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