455 lines
16 KiB
C
455 lines
16 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 "auto_aim.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 (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 -10.0f //扫描阶段PITCH固定角度
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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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static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;
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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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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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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 = &hcan2,
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.tx_id = 0x311,
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.rx_id = 0x312,
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},
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.recv_data_len = sizeof(Gimbal_Ctrl_Cmd_s),
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.send_data_len = sizeof(Gimbal_Upload_Data_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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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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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 YAW_ECD_GREATER_THAN_4096 // 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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//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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gimbal_cmd_send.yaw = gimbal_cmd_recv.yaw;
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gimbal_cmd_send.pitch = gimbal_cmd_recv.pitch;
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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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// 云台软件限位
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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 (gimbal_cmd_recv.shoot_mode == SHOOT_ON)// 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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// else
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// shoot_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 (gimbal_cmd_recv.shoot_mode == SHOOT_ON)
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// shoot_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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shoot_cmd_send.shoot_mode = gimbal_cmd_recv.shoot_mode;
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shoot_cmd_send.load_mode = gimbal_cmd_recv.load_mode;
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shoot_cmd_send.friction_mode = gimbal_cmd_recv.friction_mode;
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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 void AutoControlSet() {
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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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aim_select.suggest_fire = 0;
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//小云台扫描
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if (gimbal_scan_flag == 1) {
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gimbal_cmd_send.pitch = PITCH_SCAN;
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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 = 27; //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 >= 400) {
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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 <= 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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//摩擦轮始终开启
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shoot_cmd_send.friction_mode = FRICTION_ON;
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}
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shoot_cmd_send.friction_mode = FRICTION_ON;
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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 (gimbal_cmd_recv.shoot_mode == SHOOT_ON)// 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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// else
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// shoot_cmd_send.friction_mode = FRICTION_OFF;
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}
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static void TestControlSet() {
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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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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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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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}
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shoot_cmd_send.shoot_mode = gimbal_cmd_recv.shoot_mode;
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shoot_cmd_send.load_mode = gimbal_cmd_recv.load_mode;
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shoot_cmd_send.friction_mode = gimbal_cmd_recv.friction_mode;
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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 输入为键鼠时模式和控制量设置
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*
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*/
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static void MouseKeySet() {
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chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
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chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
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gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
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gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 10;
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
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{
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case 0:
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shoot_cmd_send.bullet_speed = 15;
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break;
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case 1:
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shoot_cmd_send.bullet_speed = 18;
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break;
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default:
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shoot_cmd_send.bullet_speed = 30;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
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{
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case 0:
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shoot_cmd_send.load_mode = LOAD_STOP;
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break;
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case 1:
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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break;
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case 2:
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shoot_cmd_send.load_mode = LOAD_3_BULLET;
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break;
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default:
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
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{
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case 0:
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shoot_cmd_send.lid_mode = LID_OPEN;
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break;
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default:
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shoot_cmd_send.lid_mode = LID_CLOSE;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
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{
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case 0:
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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break;
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default:
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shoot_cmd_send.friction_mode = FRICTION_ON;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
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{
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case 0:
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chassis_cmd_send.chassis_speed_buff = 40;
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break;
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case 1:
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chassis_cmd_send.chassis_speed_buff = 60;
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break;
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case 2:
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chassis_cmd_send.chassis_speed_buff = 80;
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break;
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default:
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chassis_cmd_send.chassis_speed_buff = 100;
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break;
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}
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switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
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{
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case 1:
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break;
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default:
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break;
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}
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}
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/**
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* @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
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* 停止的阈值'300'待修改成合适的值,或改为开关控制.
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*
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* @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
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*
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*/
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static void EmergencyHandler() {
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// 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
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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
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{
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robot_state = ROBOT_STOP;
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gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
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chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
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shoot_cmd_send.shoot_mode = SHOOT_OFF;
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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shoot_cmd_send.load_mode = LOAD_STOP;
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LOGERROR("[CMD] emergency stop!");
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}
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// 遥控器右侧开关为[上],恢复正常运行
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
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robot_state = ROBOT_READY;
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shoot_cmd_send.shoot_mode = SHOOT_ON;
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gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle;
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|
|
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LOGINFO("[CMD] reinstate, robot ready");
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}
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}
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static uint8_t cool_down;
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/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
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|
void RobotCMDTask() {
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|
// 从其他应用获取回传数据
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|
#ifdef ONE_BOARD
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SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);
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#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
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//chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
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#endif // GIMBAL_BOARD
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SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
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|
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
|
|
|
|
gimbal_cmd_recv = *(Gimbal_Ctrl_Cmd_s *) CANCommGet(cmd_can_comm);
|
|
|
|
// 根据主控发来的信息，判断自动模式还是遥控模式
|
|
if (gimbal_cmd_recv.control_mode == RC_CONTROL)
|
|
RemoteControlSet();
|
|
else if (gimbal_cmd_recv.control_mode == AUTO_CONTROL)
|
|
AutoControlSet();
|
|
|
|
else if (gimbal_cmd_recv.control_mode == TEST_CONTROL)
|
|
TestControlSet();
|
|
|
|
else if (gimbal_cmd_recv.control_mode == ZERO_FORCE) {
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
|
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
|
}
|
|
//热量控制
|
|
|
|
if (gimbal_cmd_recv.rest_heat > 350){
|
|
cool_down = 1; //进入冷却状态
|
|
}else if(gimbal_cmd_recv.rest_heat < 100){
|
|
cool_down = 0; //退出冷却状态
|
|
}
|
|
if(cool_down){
|
|
shoot_cmd_send.shoot_rate = MIN_SHOOT_RATE;
|
|
}
|
|
|
|
|
|
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
|
|
|
|
// 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)
|
|
VisionSetFlag(gimbal_cmd_recv.enemy_color);
|
|
// 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
|
|
PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
|
|
PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
|
|
//VisionSend(&vision_send_data);
|
|
}
|