#include "shoot.h" #include "robot_def.h" #include "dji_motor.h" #include "message_center.h" #include "bsp_dwt.h" #include "general_def.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; // 左摩擦轮 static DJIMotorInstance *friction_r; // 右摩擦轮 static DJIMotorInstance *loader; // 拨盘电机 // static servo_instance *lid; 需要增加弹舱盖 static Publisher_t *shoot_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自gimbal_cmd的发射控制信息 static Subscriber_t *shoot_sub; static Shoot_Upload_Data_s shoot_feedback_data; // 来自gimbal_cmd的发射控制信息 // dwt定时,计算冷却用 static float hibernate_time = 0, dead_time = 0; void ShootInit() { // 左摩擦轮 Motor_Init_Config_s left_friction_config = { .can_init_config = { .can_handle = &hcan2, .tx_id = 6, }, .controller_param_init_config = { .speed_PID = { .Kp = 10, .Ki = 0, .Kd = 0, .MaxOut = 200, }, .current_PID = { .Kp = 10, .Ki = 0, .Kd = 0, .MaxOut = 2000, }, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP | CURRENT_LOOP, .reverse_flag = MOTOR_DIRECTION_NORMAL, }, .motor_type = M3508}; // 右摩擦轮 Motor_Init_Config_s right_friction_config = { .can_init_config = { .can_handle = &hcan2, .tx_id = 5, }, .controller_param_init_config = { .speed_PID = { .Kp = 10, .Ki = 0, .Kd = 0, .MaxOut = 200, }, .current_PID = { .Kp = 5, .Ki = 0, .Kd = 0, .MaxOut = 2000, }, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP | CURRENT_LOOP, .reverse_flag = MOTOR_DIRECTION_NORMAL, }, .motor_type = M3508}; // 拨盘电机 Motor_Init_Config_s loader_config = { .can_init_config = { .can_handle = &hcan2, .tx_id = 7, }, .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 = 10, .Ki = 0, .Kd = 0, .MaxOut = 200, }, .speed_PID = { .Kp = 1, .Ki = 0, .Kd = 0, .MaxOut = 2000, }, .current_PID = { .Kp = 10, .Ki = 0, .Kd = 0, .MaxOut = 3000, }, }, .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 = ANGLE_LOOP | SPEED_LOOP , .reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向 }, .motor_type = M2006 // 英雄使用m3508 }; friction_l = DJIMotorInit(&left_friction_config); friction_r = DJIMotorInit(&right_friction_config); loader = DJIMotorInit(&loader_config); shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); } 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 if (shoot_cmd_recv.shoot_mode == SHOOT_OFF) { DJIMotorStop(friction_l); DJIMotorStop(friction_r); 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 if (hibernate_time + dead_time > DWT_GetTimeline_ms()) return; // 若不在休眠状态,根据控制模式进行拨盘电机参考值设定和模式切换 switch (shoot_cmd_recv.load_mode) { // 停止拨盘 case LOAD_STOP: DJIMotorOuterLoop(loader, SPEED_LOOP); DJIMotorSetRef(loader, 0); 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) case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用. DJIMotorOuterLoop(loader, ANGLE_LOOP); DJIMotorSetRef(loader, loader->motor_measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 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); DJIMotorSetRef(loader, loader->motor_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 = 300; // 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 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 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) // 可能需要从switch-case中独立出来 case LOAD_REVERSE: DJIMotorOuterLoop(loader, SPEED_LOOP); // ... break; default: break; } // 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: DJIMotorSetRef(friction_l, 200); DJIMotorSetRef(friction_r, 200); break; } // 关闭摩擦轮 if (shoot_cmd_recv.friction_mode==FRICTION_OFF) { DJIMotorSetRef(friction_l, 0); DJIMotorSetRef(friction_r, 0); } // 开关弹舱盖 if (shoot_cmd_recv.lid_mode == LID_CLOSE) { //... } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { //... } }