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2024超级对抗赛版本

This commit is contained in:
shmily744 2024-05-30 22:31:42 +08:00
parent 63a236d608
commit 954942466a
13 changed files with 308 additions and 264 deletions
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2
.idea/sentry_left.iml
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@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<module classpath="CMake" type="CPP_MODULE" version="4" />

8
application/chassis/chassis.c
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@ -230,7 +230,8 @@ static void EstimateSpeed()
// chassis_feedback_data.vx vy wz =
// ...
}
static float rotate_v = -3.0f * PI;
static chassis_mode_e last_chassis_mode;
/* 机器人底盘控制核心任务 */
void ChassisTask()
{
@ -270,12 +271,13 @@ void ChassisTask()
chassis_cmd_recv.wz = 0.1f * chassis_cmd_recv.offset_angle;
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = -3.0f*PI;
if(last_chassis_mode != CHASSIS_ROTATE) rotate_v = -rotate_v;
chassis_cmd_recv.wz = rotate_v;
break;
default:
break;
}
last_chassis_mode= chassis_cmd_recv.chassis_mode;
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正)西方
static float sin_theta, cos_theta;

161
application/cmd/robot_cmd.c
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@ -19,9 +19,10 @@
#define YAW_ALIGN_ANGLE 245.0f //(YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
#define PITCH_SCAN -10.0f //扫描阶段PITCH固定角度
#define PITCH_SCAN 20.0f //扫描阶段PITCH固定角度 寻找前哨站
#define SHOOT_RATE 10.0f //射频
#define SHOOT_RATE 15.0f //射频
#define MIN_SHOOT_RATE 5.0f //热量过高降低射频射频
/* cmd应用包含的模块实例指针和交互信息存储*/
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
@ -179,7 +180,7 @@ static void RemoteControlSet() {
//左侧开关状态为[下],视觉模式
if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
gimbal_cmd_send.control_mode = TEST_CONTROL;
trajectory_cal.v0 = 28; //弹速30
trajectory_cal.v0 = 25; //弹速30
if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
aim_select.suggest_fire = 0;
@ -206,7 +207,7 @@ static void RemoteControlSet() {
gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
if (yaw_err <= 5) //3度
if (yaw_err <= 3) //3度
aim_select.suggest_fire = 1;
else
aim_select.suggest_fire = 0;
@ -266,7 +267,23 @@ static void RemoteControlSet() {
static uint8_t sentry_state;
static void AutoControlSet() {
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
uint16_t myOutpost = 0,theirOutpost = 0;
if(referee_data->referee_id.Robot_Color == Robot_Blue)
{
myOutpost = referee_data->GameRobotHP.blue_outpost_HP;
theirOutpost = referee_data->GameRobotHP.red_outpost_HP;
}
else if(referee_data->referee_id.Robot_Color == Robot_Red)
{
myOutpost = referee_data->GameRobotHP.red_outpost_HP;
theirOutpost = referee_data->GameRobotHP.blue_outpost_HP;
}
if(myOutpost > 0)
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
else
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
chassis_cmd_send.vx = vision_recv_data->nav_vx;
chassis_cmd_send.vy = vision_recv_data->nav_vy;
@ -281,21 +298,22 @@ static void AutoControlSet() {
//小云台扫描
if (gimbal_scan_flag == 1) {
gimbal_cmd_send.pitch = PITCH_SCAN;
//if(sentry_state > 1)
{
// if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
// else gimbal_cmd_send.yaw -= 0.06f;
// if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
// if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;
if(sentry_state != 1){ //为一时进攻前哨站
gimbal_cmd_send.pitch = 0;
}else{
gimbal_cmd_send.pitch = PITCH_SCAN;
}
if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
else gimbal_cmd_send.yaw -= 0.06f;
if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;
shoot_cmd_send.load_mode = LOAD_STOP;
}
trajectory_cal.v0 = 35; //弹速30
trajectory_cal.v0 = 28; //弹速30
if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
aim_select.suggest_fire = 0;
@ -317,11 +335,19 @@ static void AutoControlSet() {
VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;
float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
float yaw_err = diff_yaw;
if (diff_yaw > 180)
diff_yaw -= 360;
else if (diff_yaw < -180)
diff_yaw += 360;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
if (yaw_err <= 5) //3度
{
aim_select.suggest_fire = 1;
@ -333,8 +359,12 @@ static void AutoControlSet() {
//shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
}
//摩擦轮始终开启
shoot_cmd_send.friction_mode = FRICTION_ON;
if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f)
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f)
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
}
// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
//shoot_cmd_send.shoot_rate = 8;
@ -344,6 +374,7 @@ static void AutoControlSet() {
if (shoot_fetch_data.stalled_flag == 1)
shoot_cmd_send.load_mode = LOAD_REVERSE;
}
/**
@ -380,9 +411,10 @@ static void EmergencyHandler() {
}
uint8_t sentry_behave();
uint8_t sentry_behave_RMUC();
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
static uint8_t is_died; //死亡标志位
static uint8_t cool_down;
void RobotCMDTask() {
// 从其他应用获取回传数据
@ -398,31 +430,6 @@ void RobotCMDTask() {
// 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static私有变量完成
CalcOffsetAngle();
//云台离线重新发送电机使能命令
// if(referee_data->GameRobotState.power_management_gimbal_output == 0){
// is_died = 1;
// }
// if(is_died == 1 && referee_data->GameRobotState.current_HP > 4 ){
// is_died = 0;
// DWT_Delay(0.08);
// gimbal_cmd_send.enable_motor = 1;
// enable_count++;
// }
// if(enable_count>0 && enable_count <20){
// DWT_Delay(0.08);
// gimbal_cmd_send.enable_motor = 1;
// enable_count++;
// }else{
// enable_count = 0;
// }
// if(is_died == 1 && referee_data->GameRobotState.power_management_gimbal_output ){
// is_died = 0;
// gimbal_cmd_send.enable_motor = 00;
// }
// if(gimbal_cmd_send.enable_motor >0 && referee_data->GameRobotState.power_management_gimbal_output){
// gimbal_cmd_send.enable_motor--;
// }
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
static control_mode_e last_gimbal_mode = 0;
@ -452,6 +459,15 @@ void RobotCMDTask() {
if (referee_data->PowerHeatData.shooter_17mm_1_barrel_heat > 350)
shoot_cmd_send.load_mode = LOAD_STOP;
if (referee_data->PowerHeatData.shooter_17mm_1_barrel_heat > 350){
cool_down = 1; //进入冷却状态
}else if(referee_data->PowerHeatData.shooter_17mm_1_barrel_heat < 100){
cool_down = 0; //退出冷却状态
}
if(cool_down){
shoot_cmd_send.shoot_rate = MIN_SHOOT_RATE;
}
// chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
@ -463,7 +479,8 @@ void RobotCMDTask() {
// 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)
sentry_state = sentry_behave();
// if (referee_data->GameState.game_progress == 4) {
// if (referee_data->GameState.stage_remain_time >= (300 - 60))
@ -475,8 +492,16 @@ void RobotCMDTask() {
// }
//
// gimbal_cmd_send.game_state = sentry_state;
VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, referee_data->GameRobotState.current_HP);
//对抗赛版本决策
sentry_state = sentry_behave_RMUC();
static float target_x,target_y;
if(referee_data->map_command.cmd_keyboard == 'G')
{
//蓝方启动区中心为原点 28 - 6*2
target_x = -(referee_data->map_command.target_position_x - 22.10f); // 参考原点为红方启动区中心 //x正方向为蓝方基地方向
target_y = -(referee_data->map_command.target_position_y - 8.10f) + 1.6f; //y正方向为红方飞镖闸门侧 //ros 为右手系
}
VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, target_x, target_y);
// 推送消息,双板通信,视觉通信等
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
#ifdef ONE_BOARD
@ -510,7 +535,7 @@ uint8_t sentry_behave() {
} else if (referee_data->GameState.game_progress == 5)
behave_flag = 4;
if (referee_data->GameRobotState.current_HP < 200 && referee_data->GameState.stage_remain_time >= 60 ) {
if (referee_data->GameRobotState.current_HP < 200 && referee_data->GameState.stage_remain_time >= 60) {
behave_flag = 9;
}
@ -532,3 +557,41 @@ uint8_t sentry_behave() {
last_behave_flag = behave_flag;
return behave_flag;
}
uint8_t sentry_behave_RMUC()
{
uint8_t behave_flag = 0;
uint16_t myOutpost,theirOutpost;
if(referee_data->referee_id.Robot_Color == Robot_Blue)
{
myOutpost = referee_data->GameRobotHP.blue_outpost_HP;
theirOutpost = referee_data->GameRobotHP.red_outpost_HP;
}
else if(referee_data->referee_id.Robot_Color == Robot_Red)
{
myOutpost = referee_data->GameRobotHP.red_outpost_HP;
theirOutpost = referee_data->GameRobotHP.blue_outpost_HP;
}
uint16_t allowance = referee_data->projectile_allowance.projectile_allowance_17mm;
// 准备阶段
if (referee_data->GameState.game_progress < 4)
behave_flag = 0;
else if(referee_data->GameState.game_progress == 4)
{
if( theirOutpost>0 && myOutpost>400)
behave_flag = 1; //打前哨站
if( theirOutpost<=0 || myOutpost<=400 || allowance <= 0)
behave_flag = 2; //回巡逻站
// if(referee_data->GameRobotState.current_HP <= 100)
// behave_flag = 9; //回补给区
}
// 比赛结束
else if (referee_data->GameState.game_progress == 5)
behave_flag = 4;
return behave_flag;
}

273
application/gimbal/gimbal.c
View File

@ -35,86 +35,85 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
void GimbalInit()
{
void GimbalInit() {
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.5f, // 8
.Ki = 0,
.Kd = 0,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.5f, // 8
.Ki = 0,
.Kd = 0,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 6000, // 50
.Ki = 500,//5000, // 200
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 5000,
.MaxOut = 16000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr = &yaw_speed,//&gimba_IMU_data->Gyro[2],
},
.speed_PID = {
.Kp = 6000, // 50
.Ki = 500,//5000, // 200
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 5000,
.MaxOut = 16000,
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr = &yaw_speed,//&gimba_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = GM6020,
.motor_control_type = CURRENT_CONTROL
.motor_type = GM6020,
.motor_control_type = CURRENT_CONTROL
};
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = -1.8f,//4.0f,//2.0f
.Ki = -1.5f,//1,//0
.Kd = 0.0f,//0.0f
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
},
.speed_PID = {
.Kp = -4000,//-4500,//6000,//800
.Ki = -10000, //-600,//500,//100
.Kd = 0,//0
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000,
.MaxOut = 30000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Roll,//&gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[1]),//(&gimba_IMU_data->Gyro[0]),
.current_feedforward_ptr = &current_feedforward,
.controller_param_init_config = {
.angle_PID = {
.Kp = -0.6f,//4.0f,//2.0f
.Ki = -0.8f,//1,//0
.Kd = 0.0f,//0.0f
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = -4000,//-4500,//6000,//800
.Ki = -6000, //-600,//500,//100
.Kd = 0,//0
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000,
.MaxOut = 30000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Roll,//&gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
.other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[1]),//(&gimba_IMU_data->Gyro[0]),
.current_feedforward_ptr = &current_feedforward,
},
.controller_setting_init_config = {
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP|SPEED_LOOP|CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedforward_flag = CURRENT_FEEDFORWARD,
},
.motor_type = GM6020,
.motor_control_type = CURRENT_CONTROL,//CURRENT_CONTROL
},
.controller_setting_init_config = {
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedforward_flag = CURRENT_FEEDFORWARD,
},
.motor_type = GM6020,
.motor_control_type = CURRENT_CONTROL,//CURRENT_CONTROL
};
//大YAW
Motor_Init_Config_s big_yaw_config = {
@ -128,7 +127,7 @@ void GimbalInit()
.Kp = 0.15f,
.Ki = 0.0f,
.Kd = 0.005f,
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement |PID_DerivativeFilter,
.Improve = PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter,
.IntegralLimit = 100,
.MaxOut = 1000,
.DeadBand = 0,
@ -148,7 +147,7 @@ void GimbalInit()
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP|SPEED_LOOP|CURRENT_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = DM4310,
@ -170,8 +169,7 @@ void GimbalInit()
}
/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
void GimbalTask() {
// 获取云台控制数据
// 后续增加未收到数据的处理
SubGetMessage(gimbal_sub, &gimbal_cmd_recv);
@ -185,40 +183,39 @@ void GimbalTask()
// @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
// 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
switch (gimbal_cmd_recv.gimbal_mode)
{
// 停止
case GIMBAL_ZERO_FORCE:
DJIMotorStop(yaw_motor);
DJIMotorStop(pitch_motor);
DMMotorStop(big_yaw_motor);
break;
// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
case GIMBAL_GYRO_MODE: // 后续只保留此模式
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DMMotorEnable(big_yaw_motor);
switch (gimbal_cmd_recv.gimbal_mode) {
// 停止
case GIMBAL_ZERO_FORCE:
DJIMotorStop(yaw_motor);
DJIMotorStop(pitch_motor);
DMMotorStop(big_yaw_motor);
break;
// 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
case GIMBAL_GYRO_MODE: // 后续只保留此模式
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DMMotorEnable(big_yaw_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
DMMotorSetRef(big_yaw_motor,gimbal_cmd_recv.big_yaw);
break;
// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DMMotorEnable(big_yaw_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
DMMotorSetRef(big_yaw_motor, gimbal_cmd_recv.big_yaw);
break;
// 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DMMotorEnable(big_yaw_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
// big_yaw_angle = chassis_cmd_recv.offset_angle;
// big_yaw_speed = big_yaw_motor->measure.speed_rads;
//
@ -226,10 +223,10 @@ void GimbalTask()
// big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
// big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
DMMotorSetRef(big_yaw_motor,gimbal_cmd_recv.big_yaw);
break;
default:
break;
DMMotorSetRef(big_yaw_motor, gimbal_cmd_recv.big_yaw);
break;
default:
break;
}
// 在合适的地方添加pitch重力补偿前馈力矩
@ -239,7 +236,8 @@ void GimbalTask()
float input = sin_input_generate(&sinInputGenerate);
//ANODT_SendF1(input*1000,pitch_motor->measure.speed_aps*1000,0,0);
float theta = gimba_IMU_data->Roll/180*PI;//(pitch_motor->measure.angle_single_round - 5505 * ECD_ANGLE_COEF_DJI)/180*PI;
float theta = gimba_IMU_data->Roll / 180 * PI;
//(pitch_motor->measure.angle_single_round - 5505 * ECD_ANGLE_COEF_DJI)/180*PI;
yaw_speed = gimba_IMU_data->Gyro[2] * arm_cos_f32(theta) - gimba_IMU_data->Gyro[0] * arm_sin_f32(theta);
//big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
//big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
@ -257,7 +255,7 @@ void GimbalTask()
//yaw轴角速度
//重力补偿力矩
current_feedforward = (1500)*arm_cos_f32(theta);
current_feedforward = -10000 * arm_cos_f32(theta);
//current_feedforward = 0;
float vofa_send_data[6];
vofa_send_data[0] = pitch_motor->measure.speed_aps;
@ -267,7 +265,7 @@ void GimbalTask()
vofa_send_data[4] = pitch_motor->motor_controller.speed_PID.Measure;
vofa_send_data[5] = pitch_motor->measure.angle_single_round;
vofa_justfloat_output(vofa_send_data,24,&huart1);
vofa_justfloat_output(vofa_send_data, 24, &huart1);
@ -275,16 +273,16 @@ void GimbalTask()
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
static float big_yaw_relative_angle;
big_yaw_relative_angle = big_yaw_motor->measure.total_angle ;
big_yaw_relative_angle = big_yaw_motor->measure.total_angle;
gimbal_feedback_data.yaw_motor_single_round_angle = big_yaw_motor->measure.angle_single_round;
//loop_float_constrain(big_yaw_relative_angle,0,2*PI) * RAD_2_DEGREE;
gimbal_feedback_data.mini_yaw_encode_angle = yaw_motor->measure.total_angle;
//loop_float_constrain(big_yaw_relative_angle,0,2*PI) * RAD_2_DEGREE;
gimbal_feedback_data.mini_yaw_encode_angle = yaw_motor->measure.angle_single_round;
gimbal_feedback_data.big_yaw_online = DMMotorIsOnline(big_yaw_motor);
gimbal_feedback_data.big_yaw_angle = big_yaw_angle;
// 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
PubPushMessage(gimbal_pub, (void *) &gimbal_feedback_data);
}
//以下代码为测试系统辨识时使用
@ -302,19 +300,15 @@ void GimbalTask()
// }
//}
void sin_input_frequency_init(sin_input_generate_t* InputGenerate)
{
for(int i=0;i<43;i++)
{
InputGenerate->frequency[i] = 1.0 + 0.5*i;
void sin_input_frequency_init(sin_input_generate_t *InputGenerate) {
for (int i = 0; i < 43; i++) {
InputGenerate->frequency[i] = 1.0 + 0.5 * i;
}
for(int i=0;i<9;i++)
{
InputGenerate->frequency[i+43] = 24.0 + 2.0*i;
for (int i = 0; i < 9; i++) {
InputGenerate->frequency[i + 43] = 24.0 + 2.0 * i;
}
for(int i=0;i<8;i++)
{
InputGenerate->frequency[i+43+9] = 50 + 10*i;
for (int i = 0; i < 8; i++) {
InputGenerate->frequency[i + 43 + 9] = 50 + 10 * i;
}
InputGenerate->frequency[60] = 200;
InputGenerate->frequency[61] = 250;
@ -322,38 +316,33 @@ void sin_input_frequency_init(sin_input_generate_t* InputGenerate)
InputGenerate->frequency[63] = 500;
}
float sin_input_generate(sin_input_generate_t* InputGenerate)
{
float sin_input_generate(sin_input_generate_t *InputGenerate) {
InputGenerate->DeltaT = DWT_GetDeltaT(&InputGenerate->cnt);
InputGenerate->time += InputGenerate->DeltaT;
if(InputGenerate->time >= 20*(1/InputGenerate->frequency[InputGenerate->frequency_index]))
{
if (InputGenerate->time >= 20 * (1 / InputGenerate->frequency[InputGenerate->frequency_index])) {
InputGenerate->time = 0;
InputGenerate->frequency_index += 1;
}
if(InputGenerate->frequency_index >= 64)
{
if (InputGenerate->frequency_index >= 64) {
InputGenerate->input = 0;
}
else
InputGenerate->input = arm_sin_f32(2*PI*InputGenerate->frequency[InputGenerate->frequency_index]*InputGenerate->time);
} else
InputGenerate->input = arm_sin_f32(
2 * PI * InputGenerate->frequency[InputGenerate->frequency_index] * InputGenerate->time);
//float input = arm_sin_f32(2*PI*frequency*time);
InputGenerate->input *= 2000;
return InputGenerate->input;
}
float step_input_generate(sin_input_generate_t* InputGenerate)
{
float step_input_generate(sin_input_generate_t *InputGenerate) {
static int8_t forward_flag = 1;
InputGenerate->DeltaT = DWT_GetDeltaT(&InputGenerate->cnt);
InputGenerate->time += InputGenerate->DeltaT;
if(InputGenerate->time >= 3)
{
if(forward_flag ==1) forward_flag = -1;
if (InputGenerate->time >= 3) {
if (forward_flag == 1) forward_flag = -1;
else if (forward_flag == -1) forward_flag = 1;
InputGenerate->time = 0;
}
return 60*forward_flag;
return 60 * forward_flag;
}

5
application/robot_def.h
View File

@ -32,8 +32,9 @@
#define PITCH_MAX_ANGLE 34 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE -15 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define YAW_MAX_ENCODE_ANGLE -10.0f //小yaw编码器限位
#define YAW_MIN_ENCODE_ANGLE -90.0f
#define YAW_MAX_ENCODE_ANGLE 340.0f //小yaw编码器限位
#define YAW_MIN_ENCODE_ANGLE 245.0f
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 36 // 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

37
modules/auto_aim/auto_aim.c
View File

@ -91,41 +91,16 @@ int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_c
// } else label_second = 1;
// }
// 选择两块较近的装甲板
// 选择较近的装甲板
float distance[3];
int label = 0;
for (i = 0; i < 3; i++) {
distance[i] = powf(aim_sel->armor_pose[i].x, 2) + powf(aim_sel->armor_pose[i].y, 2);
if(distance[i]<distance[label])
label = i;
}
int label_first = 0;
int label_second = 1;
if(distance[label_first] > distance[label_second])
{
label_first = 1;
label_second = 0;
}
if(distance[2]<distance[label_second])
label_second = 2;
//再选择两块装甲板与自身位置连线，同旋转中心自身位置连线，夹角较小的为目标装甲板
float center_length = sqrtf(powf(aim_sel->target_state.x, 2) + powf(aim_sel->target_state.y, 2));
float cos_theta_first = (aim_sel->armor_pose[label_first].x * aim_sel->target_state.x +
aim_sel->armor_pose[label_first].y * aim_sel->target_state.y) /
(sqrtf(powf(aim_sel->armor_pose[label_first].x, 2) +
powf(aim_sel->armor_pose[label_first].y, 2)) * center_length);
float cos_theta_second = (aim_sel->armor_pose[label_second].x * aim_sel->target_state.x +
aim_sel->armor_pose[label_second].y * aim_sel->target_state.y) /
(sqrtf(powf(aim_sel->armor_pose[label_second].x, 2) +
powf(aim_sel->armor_pose[label_second].y, 2)) * center_length);
if (cos_theta_first > cos_theta_second)
idx = label_first;
else
idx = label_second;
idx = label;
} else {
for (i = 0; i < 4; i++) {
@ -270,7 +245,7 @@ void get_cmd_angle(Trajectory_Type_t *trajectory_cal) {
}
int auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
trajectory_cal->extra_delay_time = 0.035;//0.025
trajectory_cal->extra_delay_time = 0.1;//0.025
aim_sel->target_state.armor_type = receive_packet->id;
aim_sel->target_state.armor_num = receive_packet->armors_num;

5
modules/master_machine/master_process.c
View File

@ -25,11 +25,12 @@ static DaemonInstance *vision_daemon_instance;
// send_data.work_mode = work_mode;
// send_data.bullet_speed = bullet_speed;
//}
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,float target_x,float target_y)
{
send_data.detect_color = enemy_color;
send_data.game_progress = game_progress;
send_data.outpost_hp = outpost_hp;
send_data.target_x = target_x;
send_data.target_y = target_y;
send_data.reserved = 0;
}

2
modules/master_machine/master_process.h
View File

@ -142,7 +142,7 @@ void VisionSend();
* @param bullet_speed
*/
//void VisionSetFlag(Enemy_Color_e enemy_color, Work_Mode_e work_mode, Bullet_Speed_e bullet_speed);
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,float target_x,float target_y);
/**
* @brief 设置发送数据的姿态部分

21
modules/referee/referee_protocol.h
View File

@ -77,6 +77,7 @@ typedef enum {
ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
ID_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据
ID_projectile_allowance = 0x208, // 允许发弹量数据
ID_sentry_info = 0x020D, // 哨兵兑换发弹量、血量信息
ID_student_interactive = 0x0301, // 机器人间交互数据
ID_custom_robot = 0x302, // 自定义控制器数据（图传链路）
@ -99,8 +100,10 @@ typedef enum {
LEN_aerial_robot_energy = 2, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_projectile_allowance = 6, // 0x0208
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
LEN__custom_robot = 30, // 0x0302
LEN_map_command = 12, //0x303
LEN_remote_control = 12, // 0x0304
} JudgeDataLength_e;
@ -218,12 +221,28 @@ typedef struct {
float bullet_speed;
} ext_shoot_data_t;
/* ID: 0x0208 Byte: 6 允许发弹量数据 */
typedef struct
{
uint16_t projectile_allowance_17mm;
uint16_t projectile_allowance_42mm;
uint16_t remaining_gold_coin;
}projectile_allowance_t;
/* ID: 0x020D Byte: 4 哨兵决策数据 */
typedef struct
{
uint32_t sentry_info;
} ext_sentry_info_t;
/* ID: 0x0303 Byte: 12 云台手命令 */
typedef struct
{
float target_position_x;
float target_position_y;
uint8_t cmd_keyboard;
uint8_t target_robot_id;
uint16_t cmd_source;
}map_command_t;
/****************************图传链路数据****************************/
/* ID: 0x0304 Byte: 12 图传链路键鼠遥控数据 */
typedef struct {

6
modules/referee/rm_referee.c
View File

@ -92,9 +92,15 @@ static void JudgeReadData(uint8_t *buff)
case ID_shoot_data: // 0x0207
memcpy(&referee_info.ShootData, (buff + DATA_Offset), LEN_shoot_data);
break;
case ID_projectile_allowance: // 0x0208
memcpy(&referee_info.projectile_allowance, (buff + DATA_Offset), LEN_projectile_allowance);
break;
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data);
break;
case ID_map_command: // 0x0303 syhtodo接收代码未测试
memcpy(&referee_info.map_command, (buff + DATA_Offset), LEN_map_command);
break;
}
}
}

2
modules/referee/rm_referee.h
View File

@ -37,7 +37,9 @@ typedef struct
aerial_robot_energy_t AerialRobotEnergy; // 0x0205
ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207
projectile_allowance_t projectile_allowance; // 0x0208
map_command_t map_command; //0x303
// 自定义交互数据的接收
Communicate_ReceiveData_t ReceiveData;

15
sentry_left.jdebug
View File

@ -4,9 +4,9 @@
* www.segger.com *
**********************************************************************
File :
Created : 27 Jan 2024 16:20
Ozone Version : V3.30d
File : C:/Users/sph/Desktop/sentry_left5.21/sentry_left.jdebug
Created : 22 May 2024 17:45
Ozone Version : V3.32a
*/
/*********************************************************************
@ -22,18 +22,17 @@ void OnProjectLoad (void) {
//
// Dialog-generated settings
//
Project.AddPathSubstitute ("C:/Users/sph/Desktop/sentry_left5.21", "$(ProjectDir)");
Project.AddPathSubstitute ("c:/users/sph/desktop/sentry_left5.21", "$(ProjectDir)");
Project.SetDevice ("STM32F407IG");
Project.SetHostIF ("USB", "17935099");
Project.SetHostIF ("USB", "");
Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("4 MHz");
Project.AddPathSubstitute ("D:/CLion/Project/sentry_left", "$(ProjectDir)");
Project.AddPathSubstitute ("d:/clion/project/sentry_left", "$(ProjectDir)");
Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
Project.AddSvdFile ("$(InstallDir)/Config/Peripherals/STM32F407IG.svd");
Project.AddSvdFile ("C:/SEGGER/Ozone/Config/Peripherals/STM32F407IG.svd");
//
// User settings
//
Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ);
File.Open ("$(ProjectDir)/cmake-build-debug/sentry_left.elf");
Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
}

35
sentry_left.jdebug.user
View File

@ -1,30 +1,19 @@
OpenDocument="main.c", FilePath="C:/Users/sph/Desktop/sentry_left/Src/main.c", Line=59
OpenDocument="robot_cmd.c", FilePath="C:/Users/sph/Desktop/sentry_left/application/cmd/robot_cmd.c", Line=69
OpenDocument="dji_motor.c", FilePath="C:/Users/sph/Desktop/sentry_left/modules/motor/DJImotor/dji_motor.c", Line=68
OpenDocument="bsp_dwt.c", FilePath="C:/Users/sph/Desktop/sentry_left/bsp/dwt/bsp_dwt.c", Line=30
OpenDocument="gimbal.c", FilePath="C:/Users/sph/Desktop/sentry_left/application/gimbal/gimbal.c", Line=87
OpenDocument="robot_def.h", FilePath="C:/Users/sph/Desktop/sentry_left/application/robot_def.h", Line=151
OpenDocument="main.c", FilePath="C:/Users/sph/Desktop/sentry_left5.21/Src/main.c", Line=0
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=555, h=334, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=555, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
OpenWindow="Memory 1", DockArea=BOTTOM, x=1, y=0, w=485, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20008C00
OpenWindow="Local Data", DockArea=LEFT, x=0, y=2, w=555, h=401, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=RIGHT, x=0, y=1, w=591, h=173, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=591, h=184, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="577;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="593;0"
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=477, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Source Files", DockArea=LEFT, x=0, y=1, w=482, h=881, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=0, w=482, h=185, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
OpenWindow="Memory 1", DockArea=BOTTOM, x=1, y=0, w=135, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20008C00
OpenWindow="Data Sampling", DockArea=RIGHT, x=0, y=1, w=591, h=153, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=591, h=913, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="364;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="364;-69", CodeGraphLegendShown=1, CodeGraphLegendPosition="380;0"
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=2318, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Vector Catches", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
TableHeader="Break & Tracepoints", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;102;253]
TableHeader="Local Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[100;100;102;100;100;100]
TableHeader="Break & Tracepoints", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;102;180]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;894]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;144;100;100;100;100;110;126;126]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;704]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;878]
WatchedExpression="chassis_cmd_recv", RefreshRate=2, DisplayFormat=DISPLAY_FORMAT_HEX, Window=Watched Data 1
WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]