598 lines
23 KiB
C
598 lines
23 KiB
C
// app
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#include "robot_def.h"
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#include "robot_cmd.h"
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// module
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#include "remote_control.h"
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#include "ins_task.h"
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#include "master_process.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "dji_motor.h"
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#include "DM4310.h"
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#include "auto_aim.h"
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#include "referee_task.h"
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// bsp
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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// 私有宏,自动将编码器转换成角度值
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#define YAW_ALIGN_ANGLE 245.0f //(YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
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#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
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#define PITCH_SCAN 20.0f //扫描阶段PITCH固定角度 寻找前哨站
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#define SHOOT_RATE 15.0f //射频
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#define MIN_SHOOT_RATE 5.0f //热量过高降低射频射频
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/* cmd应用包含的模块实例指针和交互信息存储*/
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#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
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#include "can_comm.h"
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static CANCommInstance *cmd_can_comm; // 双板通信
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#endif
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#ifdef ONE_BOARD
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static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
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static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
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#endif // ONE_BOARD
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#include "can_comm.h"
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static CANCommInstance *cmd_can_comm; //哨兵左右云台 双板通信
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static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
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static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
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static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
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static SendPacket_t vision_send_data; // 视觉发送数据
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//自瞄相关信息
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static Trajectory_Type_t trajectory_cal;
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static Aim_Select_Type_t aim_select;
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static uint32_t no_find_cnt; // 未发现目标计数
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static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭
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static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
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static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
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static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
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static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Robot_Status_e robot_state; // 机器人整体工作状态
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static referee_info_t *referee_data; // 用于获取裁判系统的数据
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static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
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void RobotCMDInit() {
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rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
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vision_recv_data = VisionInit(&huart1); // 视觉通信串口
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referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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#ifdef ONE_BOARD // 双板兼容
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chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x312,
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.rx_id = 0x311,
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},
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.recv_data_len = sizeof(Chassis_Upload_Data_s),
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.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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};
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cmd_can_comm = CANCommInit(&comm_conf);
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#endif // GIMBAL_BOARD
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x312,
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.rx_id = 0x311,
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},
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.recv_data_len = sizeof(Gimbal_Upload_Data_s),
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.send_data_len = sizeof(Gimbal_Ctrl_Cmd_s),
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};
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cmd_can_comm = CANCommInit(&comm_conf);
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gimbal_cmd_send.pitch = PITCH_SCAN;
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gimbal_cmd_send.yaw = 0;
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robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
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}
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/**
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* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
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* 单圈绝对角度的范围是0~360,说明文档中有图示
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*
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*/
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static void CalcOffsetAngle() {
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// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
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//如果大yaw轴电机不在线 不计算底盘跟随
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if (gimbal_fetch_data.big_yaw_online == 0) {
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chassis_cmd_send.offset_angle = 0;
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return;
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}
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static float angle;
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angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
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#if 0 // 如果大于180度
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if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle > 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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#else // 小于180度
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if (angle > YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
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#endif
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}
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/**
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* @brief 控制输入为遥控器(调试时)的模式和控制量设置
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*
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*/
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static void RemoteControlSet() {
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// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
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{
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随云台
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{
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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// 云台参数,确定云台控制数据
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if (switch_is_mid(rc_data[TEMP].rc.switch_left))
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// (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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// && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
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// vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制
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{
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// 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
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// ...
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gimbal_cmd_send.yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.big_yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.pitch -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l1;
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if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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}
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//左侧开关状态为[下],视觉模式
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if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
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gimbal_cmd_send.control_mode = TEST_CONTROL;
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trajectory_cal.v0 = 25; //弹速30
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if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
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aim_select.suggest_fire = 0;
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//未发现目标
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no_find_cnt++;
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if (no_find_cnt >= 200) {
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//gimbal_scan_flag = 1;
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//auto_aim_flag = 0;
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}
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//else
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//auto_aim_flag = 1;
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} else {
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//弹道解算
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no_find_cnt = 0;
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auto_aim_flag = 1;
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auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
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VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
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gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;
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gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
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float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
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if (yaw_err <= 3) //3度
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aim_select.suggest_fire = 1;
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else
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aim_select.suggest_fire = 0;
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}
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}
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// 云台软件限位
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// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
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chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // _水平方向
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chassis_cmd_send.vy = -0.001f * (float) rc_data[TEMP].rc.rocker_r_; // 1数值方向
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//chassis_cmd_send.wz = -0.001f * (float)rc_data[TEMP].rc.rocker_l_; // 1数值方向
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// if (vision_recv_data->nav_vx != 0 || vision_recv_data->nav_vy != 0 || vision_recv_data->nav_wz != 0) {
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// chassis_cmd_send.vx = vision_recv_data->nav_vx;
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// chassis_cmd_send.vy = vision_recv_data->nav_vy;
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// chassis_cmd_send.wz = vision_recv_data->nav_wz;
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//
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// }
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// 发射参数
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
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; // 弹舱舵机控制,待添加servo_motor模块,开启
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else; // 弹舱舵机控制,待添加servo_motor模块,关闭
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// 摩擦轮控制,拨轮向上打为负,向下为正
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if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
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shoot_cmd_send.friction_mode = FRICTION_ON;
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//gimbal_cmd_send.friction_mode = FRICTION_ON;
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else
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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//gimbal_cmd_send.friction_mode = FRICTION_OFF;
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// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
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if (rc_data[TEMP].rc.dial < -500)
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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//gimbal_cmd_send.load_mode = LOAD_BURSTFIRE;
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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//gimbal_cmd_send.load_mode = LOAD_STOP;
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gimbal_cmd_send.shoot_mode = shoot_cmd_send.shoot_mode;//遥控发射指令同步发送给右边
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gimbal_cmd_send.load_mode = shoot_cmd_send.load_mode;//遥控发射指令同步发送给右边
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gimbal_cmd_send.friction_mode = shoot_cmd_send.friction_mode;//遥控发射指令同步发送给右边
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// 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,
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shoot_cmd_send.shoot_rate = SHOOT_RATE;
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//检测到卡弹 拨弹盘反转
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if (shoot_fetch_data.stalled_flag == 1)
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shoot_cmd_send.load_mode = LOAD_REVERSE;
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}
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/**
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* @brief 自动模式时模式和控制量设置
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*
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*/
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static uint8_t sentry_state;
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static void AutoControlSet() {
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uint16_t myOutpost = 0,theirOutpost = 0;
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if(referee_data->referee_id.Robot_Color == Robot_Blue)
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{
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myOutpost = referee_data->GameRobotHP.blue_outpost_HP;
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theirOutpost = referee_data->GameRobotHP.red_outpost_HP;
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}
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else if(referee_data->referee_id.Robot_Color == Robot_Red)
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{
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myOutpost = referee_data->GameRobotHP.red_outpost_HP;
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theirOutpost = referee_data->GameRobotHP.blue_outpost_HP;
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}
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if(myOutpost > 0)
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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else
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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chassis_cmd_send.vx = vision_recv_data->nav_vx;
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chassis_cmd_send.vy = vision_recv_data->nav_vy;
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//云台保持陀螺仪控制
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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static int8_t gimbal_scan_flag = 1;
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static int8_t yaw_dir = 1;
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static int8_t pitch_dir = 1;
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//trajectory_cal.v0 = 30; //弹速30
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//小云台扫描
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if (gimbal_scan_flag == 1) {
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if(sentry_state != 1){ //为一时进攻前哨站
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gimbal_cmd_send.pitch = 0;
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}else{
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gimbal_cmd_send.pitch = PITCH_SCAN;
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}
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if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
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else gimbal_cmd_send.yaw -= 0.06f;
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if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
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if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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trajectory_cal.v0 = 28; //弹速30
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if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
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&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
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aim_select.suggest_fire = 0;
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//未发现目标
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no_find_cnt++;
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if (no_find_cnt >= 200) {
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gimbal_scan_flag = 1;
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//auto_aim_flag = 0;
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}
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//else
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//auto_aim_flag = 1;
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} else {
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//弹道解算
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no_find_cnt = 0;
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auto_aim_flag = 1;
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auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
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VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
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float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
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float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
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float yaw_err = diff_yaw;
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if (diff_yaw > 180)
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diff_yaw -= 360;
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else if (diff_yaw < -180)
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diff_yaw += 360;
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gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
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gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
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if (yaw_err <= 5) //3度
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{
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aim_select.suggest_fire = 1;
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shoot_cmd_send.shoot_mode = SHOOT_ON;
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shoot_cmd_send.shoot_rate = SHOOT_RATE;
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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} else {
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aim_select.suggest_fire = 0;
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//shoot_cmd_send.shoot_mode = SHOOT_OFF;
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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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;
|
||
//检测到卡弹 拨弹盘反转
|
||
|
||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||
|
||
if (shoot_fetch_data.stalled_flag == 1)
|
||
shoot_cmd_send.load_mode = LOAD_REVERSE;
|
||
|
||
}
|
||
|
||
/**
|
||
* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
|
||
* 停止的阈值'300'待修改成合适的值,或改为开关控制.
|
||
*
|
||
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
|
||
*
|
||
*/
|
||
static void EmergencyHandler() {
|
||
// 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
|
||
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
|
||
{
|
||
robot_state = ROBOT_STOP;
|
||
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
||
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
|
||
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
||
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
||
shoot_cmd_send.load_mode = LOAD_STOP;
|
||
|
||
gimbal_cmd_send.control_mode = ZERO_FORCE;
|
||
LOGERROR("[CMD] emergency stop!");
|
||
}
|
||
// 遥控器右侧开关为[上],恢复正常运行
|
||
if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
|
||
robot_state = ROBOT_READY;
|
||
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
||
// gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
|
||
// gimbal_cmd_send.big_yaw = gimbal_cmd_send.yaw;
|
||
gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle;
|
||
gimbal_cmd_send.big_yaw = gimbal_fetch_data.big_yaw_angle;
|
||
LOGINFO("[CMD] reinstate, robot ready");
|
||
}
|
||
}
|
||
|
||
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 cool_down;
|
||
|
||
void RobotCMDTask() {
|
||
// 从其他应用获取回传数据
|
||
#ifdef ONE_BOARD
|
||
SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
|
||
#endif // ONE_BOARD
|
||
#ifdef GIMBAL_BOARD
|
||
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
|
||
#endif // GIMBAL_BOARD
|
||
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
|
||
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
|
||
|
||
// 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();
|
||
|
||
|
||
// 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;
|
||
if (robot_state != ROBOT_STOP && rc_data[TEMP].rc.dial < 300) {
|
||
if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],自动模式
|
||
{
|
||
gimbal_cmd_send.control_mode = AUTO_CONTROL;
|
||
AutoControlSet();
|
||
} else {
|
||
if (last_gimbal_mode == AUTO_CONTROL) {
|
||
gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle;
|
||
gimbal_cmd_send.pitch = 0;
|
||
}
|
||
gimbal_cmd_send.control_mode = RC_CONTROL;
|
||
RemoteControlSet();
|
||
}
|
||
}
|
||
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
|
||
|
||
gimbal_cmd_send.enemy_color = !referee_data->referee_id.Robot_Color;
|
||
gimbal_cmd_send.rest_heat = referee_data->PowerHeatData.shooter_17mm_2_barrel_heat;
|
||
|
||
|
||
last_gimbal_mode = gimbal_cmd_send.control_mode;
|
||
|
||
//热量控制
|
||
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;
|
||
// // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
|
||
// //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
|
||
// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
|
||
// chassis_feedback_data.game_progress = referee_data->GameState.game_progress;
|
||
// chassis_feedback_data.remain_HP = referee_data->GameRobotState.current_HP;
|
||
// 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)
|
||
|
||
|
||
|
||
|
||
// if (referee_data->GameState.game_progress == 4) {
|
||
// if (referee_data->GameState.stage_remain_time >= (300 - 60))
|
||
// sentry_state = 1;//前一分钟
|
||
// else if (referee_data->GameState.stage_remain_time <= 60)
|
||
// sentry_state = 3;//后一分钟
|
||
// else
|
||
// sentry_state = 2;//中间阶段
|
||
// }
|
||
//
|
||
// gimbal_cmd_send.game_state = sentry_state;
|
||
//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
|
||
PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
|
||
#endif // ONE_BOARD
|
||
#ifdef GIMBAL_BOARD
|
||
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
|
||
#endif // GIMBAL_BOARD
|
||
|
||
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);
|
||
}
|
||
|
||
uint8_t sentry_behave() {
|
||
static uint8_t behave_flag = 0;
|
||
static uint8_t last_behave_flag = 0;
|
||
static uint8_t recover_cnt = 0;
|
||
// 比赛阶段 0准备阶段 1前1分钟 2中间阶段 3后一分钟 4比赛结束 9补给区回血 10保留（无响应）
|
||
// 0 未开始 1 进攻点1 2 进攻点2 3 不动 4 回初始点 9补血
|
||
if (referee_data->GameState.game_progress < 4)
|
||
behave_flag = 0;
|
||
else if (referee_data->GameState.game_progress == 4) {
|
||
if (referee_data->GameState.stage_remain_time >= (420 - 60))
|
||
behave_flag = 1;//前一分钟
|
||
else if (referee_data->GameState.stage_remain_time <= 60)
|
||
behave_flag = 3;//后一分钟
|
||
else
|
||
behave_flag = 2;//中间阶段
|
||
} 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) {
|
||
behave_flag = 9;
|
||
}
|
||
|
||
|
||
static uint16_t last_HP = 600;
|
||
static uint16_t recover_start_T = 0;
|
||
|
||
if (behave_flag == 9) //回去回血了
|
||
{
|
||
if (last_behave_flag != 9) {
|
||
recover_start_T = referee_data->GameState.stage_remain_time;
|
||
recover_cnt++;
|
||
}
|
||
|
||
if ((referee_data->GameState.stage_remain_time - recover_start_T) > 10)
|
||
behave_flag = 10;//随便给一个值
|
||
}
|
||
|
||
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;
|
||
}
|