2024超级对抗赛版本

.idea/sentry_left.iml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module classpath="CMake" type="CPP_MODULE" version="4" />

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;

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;
@@ -266,6 +267,22 @@ static void RemoteControlSet() {
 static uint8_t sentry_state;
 
 static void AutoControlSet() {
+    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;
@@ -281,21 +298,22 @@ static void AutoControlSet() {
 
     //小云台扫描
     if (gimbal_scan_flag == 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(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 (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;
-
+    //对抗赛版本决策
-    VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, referee_data->GameRobotState.current_HP);
+    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
@@ -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;
+}

application/gimbal/gimbal.c

@@ -35,8 +35,7 @@ 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 = {
@@ -86,8 +85,8 @@ void GimbalInit()
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                .Kp = -1.8f,//4.0f,//2.0f
+                            .Kp = -0.6f,//4.0f,//2.0f
-                .Ki = -1.5f,//1,//0
+                            .Ki = -0.8f,//1,//0
                             .Kd = 0.0f,//0.0f
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
@@ -95,7 +94,7 @@ void GimbalInit()
                     },
                     .speed_PID = {
                             .Kp = -4000,//-4500,//6000,//800
-                .Ki = -10000, //-600,//500,//100
+                            .Ki = -6000, //-600,//500,//100
                             .Kd = 0,//0
                             .Improve = PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 10000,
@@ -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);
@@ -185,8 +183,7 @@ 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)
+    switch (gimbal_cmd_recv.gimbal_mode) {
-    {
         // 停止
         case GIMBAL_ZERO_FORCE:
             DJIMotorStop(yaw_motor);
@@ -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;
@@ -280,7 +278,7 @@ void GimbalTask()
 
     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;
+    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
@@ -302,18 +300,14 @@ void GimbalTask()
 //    }
 //}
 
-void sin_input_frequency_init(sin_input_generate_t* InputGenerate)
+void sin_input_frequency_init(sin_input_generate_t *InputGenerate) {
-{
+    for (int i = 0; i < 43; i++) {
-    for(int i=0;i<43;i++)
-    {
         InputGenerate->frequency[i] = 1.0 + 0.5 * i;
     }
-    for(int i=0;i<9;i++)
+    for (int i = 0; i < 9; i++) {
-    {
         InputGenerate->frequency[i + 43] = 24.0 + 2.0 * i;
     }
-    for(int i=0;i<8;i++)
+    for (int i = 0; i < 8; i++) {
-    {
         InputGenerate->frequency[i + 43 + 9] = 50 + 10 * i;
     }
     InputGenerate->frequency[60] = 200;
@@ -322,34 +316,29 @@ 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
-    else
+        InputGenerate->input = arm_sin_f32(
-        InputGenerate->input = arm_sin_f32(2*PI*InputGenerate->frequency[InputGenerate->frequency_index]*InputGenerate->time);
+                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 (InputGenerate->time >= 3) {
-    {
         if (forward_flag == 1) forward_flag = -1;
         else if (forward_flag == -1) forward_flag = 1;
 

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_MAX_ENCODE_ANGLE 340.0f //小yaw编码器限位
-#define YAW_MIN_ENCODE_ANGLE -90.0f
+#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

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])
+                label = i;
         }
 
-        int label_first = 0;
+        idx = label;
-        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;
 
     } 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;

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;
 }
 

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

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 {

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;
 				}
 			}
 		}

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;
 

sentry_left.jdebug

@@ -4,9 +4,9 @@
 *                         www.segger.com                             *
 **********************************************************************
 
-File          : 
+File          : C:/Users/sph/Desktop/sentry_left5.21/sentry_left.jdebug
-Created       : 27 Jan 2024 16:20
+Created       : 22 May 2024 17:45
-Ozone Version : V3.30d
+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");
 }

sentry_left.jdebug.user

@@ -1,30 +1,19 @@
 
 
-
+OpenDocument="main.c", FilePath="C:/Users/sph/Desktop/sentry_left5.21/Src/main.c", Line=0
-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
 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="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=1, w=555, h=302, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
+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=485, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20008C00
+OpenWindow="Memory 1", DockArea=BOTTOM, x=1, y=0, w=135, 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=153, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=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=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="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=2318, h=170, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=477, 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="Break & Tracepoints", SortCol="", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;102;180]
-TableHeader="Local Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[100;100;102;100;100;100]
+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