diff --git a/.idea/sentry_left.iml b/.idea/sentry_left.iml
deleted file mode 100644
index f08604b..0000000
--- a/.idea/sentry_left.iml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-
\ No newline at end of file
diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index d733d50..1de7267 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -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;
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index cd7f67b..63f4bd8 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -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;
+}
diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index 79f8ae0..9b1798a 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -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 = ¤t_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 = ¤t_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;
}
\ No newline at end of file
diff --git a/application/robot_def.h b/application/robot_def.h
index 600083a..de8108a 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -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
diff --git a/modules/auto_aim/auto_aim.c b/modules/auto_aim/auto_aim.c
index 90fc927..95ab759 100644
--- a/modules/auto_aim/auto_aim.c
+++ b/modules/auto_aim/auto_aim.c
@@ -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_second])
- {
- label_first = 1;
- label_second = 0;
- }
-
- if(distance[2]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;
diff --git a/modules/master_machine/master_process.c b/modules/master_machine/master_process.c
index 1ae7bfd..3c3e493 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -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;
}
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index 620d57c..98bfab9 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -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
diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h
index a885f36..8316b35 100644
--- a/modules/referee/referee_protocol.h
+++ b/modules/referee/referee_protocol.h
@@ -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 {
diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c
index 2743d7d..91ab8f8 100644
--- a/modules/referee/rm_referee.c
+++ b/modules/referee/rm_referee.c
@@ -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;
}
}
}
diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h
index e935e94..e2a288a 100644
--- a/modules/referee/rm_referee.h
+++ b/modules/referee/rm_referee.h
@@ -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;
diff --git a/sentry_left.jdebug b/sentry_left.jdebug
index 75ede95..7eec3ea 100644
--- a/sentry_left.jdebug
+++ b/sentry_left.jdebug
@@ -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");
}
diff --git a/sentry_left.jdebug.user b/sentry_left.jdebug.user
index d27997e..e8ac224 100644
--- a/sentry_left.jdebug.user
+++ b/sentry_left.jdebug.user
@@ -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
\ No newline at end of file
+TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
\ No newline at end of file