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sentry_gimbal_hzz
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修复了遥控器摇杆值解算错误的问题

This commit is contained in:
NeoZng 2022-12-09 14:21:31 +08:00
parent 9f09002235
commit 02b3af15c7
6 changed files with 28 additions and 34 deletions
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6
application/chassis/chassis.c
View File

@ -59,15 +59,15 @@ void ChassisInit()
{
// 四个轮子的参数一样,改tx_id和反转标志位即可
Motor_Init_Config_s chassis_motor_config = {
.can_init_config.can_handle=&hcan2,
.can_init_config.can_handle=&hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp=1,
.Kp=10,
.Ki=0,
.Kd=0,
},
.current_PID = {
.Kp=1,
.Kp=10,
.Ki=0,
.Kd=0,
},

14
application/cmd/robot_cmd.c
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@ -98,8 +98,8 @@ static void RemoteControlSet()
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
if (switch_is_down(rc_data[TEMP].rc.s[1]) || 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)rc_data[TEMP].rc.joystick[2];
gimbal_cmd_send.pitch += 0.5f * (float)rc_data[TEMP].rc.joystick[3];
gimbal_cmd_send.yaw += 0.0015f * (float)rc_data[TEMP].rc.joystick[2];
gimbal_cmd_send.pitch += 0.0025f * (float)rc_data[TEMP].rc.joystick[3];
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
}
@ -114,9 +114,9 @@ static void RemoteControlSet()
; // 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 (rc_data[TEMP].rc.joystick[4] > 100)
shoot_cmd_send.shoot_mode = FRICTION_ON;
shoot_cmd_send.friction_mode = FRICTION_ON;
else
shoot_cmd_send.shoot_mode = FRICTION_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
// 拨弹控制,目前固定为连发
if (rc_data[TEMP].rc.joystick[4] > 500)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
@ -143,9 +143,9 @@ static void EmergencyHandler()
if (rc_data[TEMP].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;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.load_mode = SHOOT_STOP;
return;
}
// if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)

4
application/gimbal/gimbal.c
View File

@ -22,7 +22,7 @@ void GimbalInit()
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
@ -51,7 +51,7 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {

7
application/robot_def.h
View File

@ -52,14 +52,13 @@
* @brief 这些枚举类型和结构体会作为CMD控制数据和各应用的反馈数据的一部分
*
*/
//机器人状态
// 机器人状态
typedef enum
{
ROBOT_STOP,
ROBOT_WORKING,
} Robot_Status_e;
// 应用状态
typedef enum
{
@ -94,7 +93,7 @@ typedef enum
{
FRICTION_OFF, // 摩擦轮关闭
FRICTION_ON, // 摩擦轮开启
} shoot_mode_e;
} friction_mode_e;
typedef enum
{
@ -153,7 +152,7 @@ typedef struct
{
loader_mode_e load_mode;
lid_mode_e lid_mode;
shoot_mode_e shoot_mode;
friction_mode_e friction_mode;
Bullet_Speed_e bullet_speed; // 弹速枚举
uint8_t rest_heat;
float shoot_rate; // 连续发射的射频,unit per s,发/秒

21
application/shoot/shoot.c
View File

@ -24,17 +24,17 @@ void ShootInit()
// 左摩擦轮
Motor_Init_Config_s left_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
.can_handle = &hcan2,
.tx_id = 6,
},
.controller_param_init_config = {
.speed_PID = {
.Kp=1,
.Kp=10,
.Ki=0,
.Kd=0,
},
.current_PID = {
.Kp=1,
.Kp=10,
.Ki=0,
.Kd=0,
},
@ -51,8 +51,8 @@ void ShootInit()
// 右摩擦轮
Motor_Init_Config_s right_friction_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
.can_handle = &hcan2,
.tx_id = 5,
},
.controller_param_init_config = {
.speed_PID = {
@ -77,8 +77,8 @@ void ShootInit()
// 拨盘电机
Motor_Init_Config_s loader_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 3,
.can_handle = &hcan2,
.tx_id = 7,
},
.controller_param_init_config = {
.angle_PID = {
@ -87,11 +87,6 @@ void ShootInit()
.Ki = 1,
.Kd = 2,
},
.angle_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
.speed_PID = {
.Kp=1,
.Ki=0,

10
modules/remote/remote_control.c
View File

@ -19,11 +19,11 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
{
memcpy(&rc_ctrl[1], &rc_ctrl[TEMP], sizeof(RC_ctrl_t)); // 保存上一次的数据
// 摇杆,直接解算时减去偏置
rc_ctrl[TEMP].rc.joystick[0] = (sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = ((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = ((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = ((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = sbus_buf[16] | (sbus_buf[17] << 8) - RC_CH_VALUE_OFFSET; // 左侧拨轮
rc_ctrl[TEMP].rc.joystick[0] = ((sbus_buf[0] | (sbus_buf[1] << 8)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 0
rc_ctrl[TEMP].rc.joystick[1] = (((sbus_buf[1] >> 3) | (sbus_buf[2] << 5)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 1
rc_ctrl[TEMP].rc.joystick[2] = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2
rc_ctrl[TEMP].rc.joystick[3] = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3
rc_ctrl[TEMP].rc.joystick[4] = (sbus_buf[16] | (sbus_buf[17] << 8)) - RC_CH_VALUE_OFFSET; // 左侧拨轮
// 开关,0左1右
rc_ctrl[TEMP].rc.s[0] = ((sbus_buf[5] >> 4) & 0x0003); //!< Switch left
rc_ctrl[TEMP].rc.s[1] = ((sbus_buf[5] >> 4) & 0x000C) >> 2; //!< Switch right