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This commit is contained in:
宋家齐 2024-05-09 15:23:43 +08:00
parent d91c07afde
commit 4d7f7e9bd1
3 changed files with 17 additions and 14 deletions
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2
Src/main.c
View File

@ -120,6 +120,8 @@ int main(void)
MX_CRC_Init(); MX_CRC_Init();
MX_DAC_Init(); MX_DAC_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
HAL_Delay(1500); //delay 一段时间 等待关节电机驱动初始化
RobotInit(); // 唯一的初始化函数 RobotInit(); // 唯一的初始化函数
LOGINFO("[main] SystemInit() and RobotInit() done"); LOGINFO("[main] SystemInit() and RobotInit() done");
/* USER CODE END 2 */ /* USER CODE END 2 */

25
application/cmd/robot_cmd.c
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@ -437,18 +437,18 @@ void RobotCMDTask() {
// 设置视觉发送数据,还需增加加速度和角速度数据 // 设置视觉发送数据,还需增加加速度和角速度数据
// VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed) // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed)
//sentry_state = sentry_behave(); sentry_state = sentry_behave();
if (referee_data->GameState.game_progress == 4) { // if (referee_data->GameState.game_progress == 4) {
if (referee_data->GameState.stage_remain_time >= (300 - 60)) // if (referee_data->GameState.stage_remain_time >= (300 - 60))
sentry_state = 1;//前一分钟 // sentry_state = 1;//前一分钟
else if (referee_data->GameState.stage_remain_time <= 60) // else if (referee_data->GameState.stage_remain_time <= 60)
sentry_state = 3;//后一分钟 // sentry_state = 3;//后一分钟
else // else
sentry_state = 2;//中间阶段 // sentry_state = 2;//中间阶段
} // }
//
gimbal_cmd_send.game_state = sentry_state; // gimbal_cmd_send.game_state = sentry_state;
VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, referee_data->GameRobotState.current_HP); VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, referee_data->GameRobotState.current_HP);
// 推送消息,双板通信,视觉通信等 // 推送消息,双板通信,视觉通信等
@ -471,10 +471,11 @@ uint8_t sentry_behave() {
static uint8_t last_behave_flag = 0; static uint8_t last_behave_flag = 0;
static uint8_t recover_cnt = 0; static uint8_t recover_cnt = 0;
// 比赛阶段 0准备阶段 1前1分钟 2中间阶段 3后一分钟 4比赛结束 9补给区回血 10保留（无响应） // 比赛阶段 0准备阶段 1前1分钟 2中间阶段 3后一分钟 4比赛结束 9补给区回血 10保留（无响应）
// 0 未开始 1 进攻点1 2 进攻点2 3 不动 4 回初始点 9补血
if (referee_data->GameState.game_progress < 4) if (referee_data->GameState.game_progress < 4)
behave_flag = 0; behave_flag = 0;
else if (referee_data->GameState.game_progress == 4) { else if (referee_data->GameState.game_progress == 4) {
if (referee_data->GameState.stage_remain_time >= (300 - 60)) if (referee_data->GameState.stage_remain_time >= (420 - 60))
behave_flag = 1;//前一分钟 behave_flag = 1;//前一分钟
else if (referee_data->GameState.stage_remain_time <= 60) else if (referee_data->GameState.stage_remain_time <= 60)
behave_flag = 3;//后一分钟 behave_flag = 3;//后一分钟

4
modules/master_machine/master_process.c
View File

@ -28,8 +28,8 @@ static DaemonInstance *vision_daemon_instance;
void VisionSetFlag(Enemy_Color_e enemy_color,uint8_t game_progress,uint16_t outpost_hp) void VisionSetFlag(Enemy_Color_e enemy_color,uint8_t game_progress,uint16_t outpost_hp)
{ {
send_data.detect_color = enemy_color; send_data.detect_color = enemy_color;
// send_data.game_progress = game_progress; send_data.game_progress = game_progress;
// send_data.outpost_hp = outpost_hp; send_data.outpost_hp = outpost_hp;
send_data.reserved = 0; send_data.reserved = 0;
} }