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通信bug修复测试完成

This commit is contained in:
宋家齐 2024-05-05 20:59:06 +08:00
parent 2575a2267e
commit c97996f501
6 changed files with 22 additions and 22 deletions
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20
application/cmd/robot_cmd.c
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@ -16,7 +16,7 @@
#include "bsp_log.h"
// 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE 175.0f //(YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
#define YAW_ALIGN_ANGLE 132.0f //(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
@ -266,10 +266,10 @@ static void RemoteControlSet() {
static uint8_t sentry_state;
static void AutoControlSet() {
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// chassis_cmd_send.vx = vision_recv_data->nav_vx;
// chassis_cmd_send.vy = vision_recv_data->nav_vy;
chassis_cmd_send.vx = vision_recv_data->nav_vx;
chassis_cmd_send.vy = vision_recv_data->nav_vy;
//云台保持陀螺仪控制
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
@ -286,10 +286,10 @@ static void AutoControlSet() {
//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;
@ -303,7 +303,7 @@ static void AutoControlSet() {
no_find_cnt++;
if (no_find_cnt >= 200) {
//gimbal_scan_flag = 1;
gimbal_scan_flag = 1;
//auto_aim_flag = 0;
}
//else
@ -463,7 +463,7 @@ void RobotCMDTask() {
CANCommSend(cmd_can_comm, (void *) &gimbal_cmd_send); //哨兵左右云台双板通信
PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
VisionSend(&vision_send_data);
// VisionSend(&vision_send_data);
}
uint8_t sentry_behave() {

2
application/gimbal/gimbal.c
View File

@ -242,7 +242,7 @@ void GimbalTask()
//big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - 44);
big_yaw_angle = gimba_IMU_data->YawTotalAngle - (yaw_motor->measure.total_angle - (-80));
//big_yaw_speed = yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD;
big_yaw_speed = (yaw_speed - yaw_motor->measure.speed_aps * DEGREE_2_RAD);

4
application/robot_def.h
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@ -32,8 +32,8 @@
#define PITCH_MAX_ANGLE 39 // 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 -18 // 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 139.0f //小yaw编码器限位
#define YAW_MIN_ENCODE_ANGLE 10.0f
#define YAW_MAX_ENCODE_ANGLE -10.0f //小yaw编码器限位
#define YAW_MIN_ENCODE_ANGLE -90.0f
// 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

2
modules/imu/ins_task.c
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@ -165,7 +165,7 @@ void INS_Task(void)
INS.Yaw = QEKF_INS.Yaw;
INS.Pitch = QEKF_INS.Pitch;
INS.Roll = QEKF_INS.Roll;
INS.Roll = - QEKF_INS.Roll;
INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
//VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);

2
modules/master_machine/master_process.c
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@ -180,7 +180,7 @@ void VisionSend()
// // 将数据转化为seasky协议的数据包
// get_protocol_send_data(0x02, flag_register, &send_data.yaw, 3, send_buff, &tx_len);
// USBTransmit(send_buff, tx_len);
static uint8_t send_buffer[24]={0};
static uint8_t send_buffer[64]={0};
send_data.header = 0x5A;
//VisionSetFlag(COLOR_BLUE);

14
modules/master_machine/master_process.h
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@ -84,10 +84,10 @@ typedef struct {
float aim_y;
float aim_z;
// uint8_t game_progress;
// uint16_t outpost_hp;
// float target_x;
// float target_y;
uint8_t game_progress;
uint16_t outpost_hp;
float target_x;
float target_y;
uint16_t checksum;
} SendPacket_t;
@ -112,9 +112,9 @@ typedef struct {
float dz;
//导航数据
// float nav_vx;
// float nav_vy;
// float nav_wz;
float nav_vx;
float nav_vy;
float nav_wz;
uint16_t checksum;
} RecievePacket_t;