From 954942466a35682b8c205a5e206452c84a37bf9e Mon Sep 17 00:00:00 2001 From: shmily744 <1527550984@qq.com> Date: Thu, 30 May 2024 22:31:42 +0800 Subject: [PATCH] =?UTF-8?q?2024=E8=B6=85=E7=BA=A7=E5=AF=B9=E6=8A=97?= =?UTF-8?q?=E8=B5=9B=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/sentry_left.iml | 2 - application/chassis/chassis.c | 8 +- application/cmd/robot_cmd.c | 161 +++++++++----- application/gimbal/gimbal.c | 273 ++++++++++++------------ application/robot_def.h | 5 +- modules/auto_aim/auto_aim.c | 37 +--- modules/master_machine/master_process.c | 5 +- modules/master_machine/master_process.h | 2 +- modules/referee/referee_protocol.h | 21 +- modules/referee/rm_referee.c | 6 + modules/referee/rm_referee.h | 2 + sentry_left.jdebug | 15 +- sentry_left.jdebug.user | 35 ++- 13 files changed, 308 insertions(+), 264 deletions(-) delete mode 100644 .idea/sentry_left.iml 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] 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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