512 lines
20 KiB
C
512 lines
20 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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#include "referee_task.h"
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#include "referee_UI.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 PITCH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
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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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#include "user_lib.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 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 VT_ctrl_t vt_data[2]; // 图传链路下发的键鼠遥控数据 与遥控器数据格式保持一致
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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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{
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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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gimbal_cmd_send.pitch = 0;
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robot_state = ROBOT_STOP; // 轮腿 上电后进入ROBOT_STOP 保证安全(对应倒地状态）
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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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{
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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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static float offset_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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#define PITCH_ZERO_ANGLE 195.0f //电机旋转导致的云台相对底盘角度
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static void pitch_limit()
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{
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static float PitchMotorAngle,DeltaPitchAngle;
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PitchMotorAngle = gimbal_fetch_data.pitch_motor_ecd - PITCH_ZERO_ANGLE;//电机旋转导致的云台相对底盘角度
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DeltaPitchAngle = gimbal_fetch_data.gimbal_imu_data.Pitch - PitchMotorAngle;
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gimbal_cmd_send.pitch = LIMIT_MIN_MAX(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE-DeltaPitchAngle, PITCH_MAX_ANGLE-DeltaPitchAngle);
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}
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static void auto_aim_mode() {
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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 >= 2000) {
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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 <= 3) //3度
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{
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aim_select.suggest_fire = 1;
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}
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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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/**
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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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{
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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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}
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else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘跟随模式
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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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float yaw_add = -0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
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float pitch_add = -0.0003f * (float) rc_data[TEMP].rc.rocker_l1;
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gimbal_cmd_send.yaw += yaw_add;
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gimbal_cmd_send.pitch += pitch_add;
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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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auto_aim_mode();
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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 = 8.0f * (float)rc_data[TEMP].rc.rocker_r1; // _水平方向
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chassis_cmd_send.vy = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // 1数值方向
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//chassis_cmd_send.wz = 8.0f * (float)rc_data[TEMP].rc.rocker_r_; // 1数值方向
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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
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; // 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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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 (rc_data[TEMP].rc.dial < -500)
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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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// 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 = 8;
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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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{
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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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aim_select.suggest_fire = 0;
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if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
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{
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if (shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.shoot_mode = SHOOT_ON;
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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}
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} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r))
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{
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shoot_cmd_send.load_mode = LOAD_STOP;
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}
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if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
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{
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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 &&
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vision_recv_data->vz == 0))
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{
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shoot_cmd_send.load_mode = LOAD_STOP;
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} else {
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auto_aim_mode();
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if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
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shoot_cmd_send.friction_mode == FRICTION_ON) {
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shoot_cmd_send.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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}
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}
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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 输入为（图传链路）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 VTMouseKeySet()
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{
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// 鼠标解析
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vt_data[TEMP].mouse.x = referee_data->RemoteControl.mouse_x; //!< Mouse X axis
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vt_data[TEMP].mouse.y = referee_data->RemoteControl.mouse_y; //!< Mouse Y axis
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vt_data[TEMP].mouse.press_l = referee_data->RemoteControl.left_button_down; //!< Mouse Left Is Press ?
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vt_data[TEMP].mouse.press_r = referee_data->RemoteControl.right_button_down; //!< Mouse Right Is Press ?
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// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
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*(uint16_t *)&vt_data[TEMP].key[KEY_PRESS] = referee_data->RemoteControl.keyboard_value;
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if (vt_data[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
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vt_data[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_data[TEMP].key[KEY_PRESS];
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||
else
|
||
memset(&vt_data[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
|
||
if (vt_data[TEMP].key[KEY_PRESS].shift) // shift键按下
|
||
vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_data[TEMP].key[KEY_PRESS];
|
||
else
|
||
memset(&vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
|
||
|
||
uint16_t key_now = vt_data[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
|
||
key_last = vt_data[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
|
||
key_with_ctrl = vt_data[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
|
||
key_with_shift = vt_data[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下
|
||
key_last_with_ctrl = vt_data[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
|
||
key_last_with_shift = vt_data[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
|
||
|
||
for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
|
||
{
|
||
if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
|
||
continue;
|
||
// 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
|
||
if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
|
||
vt_data[TEMP].key_count[KEY_PRESS][i]++;
|
||
// 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
|
||
if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
|
||
vt_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
|
||
// 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
|
||
if ((key_with_shift & j) && !(key_last_with_shift & j))
|
||
vt_data[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
|
||
}
|
||
|
||
memcpy(&vt_data[LAST], &vt_data[TEMP], sizeof(VT_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
|
||
|
||
chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].w * 2000 - vt_data[TEMP].key[KEY_PRESS].s * 2000; // 系数待测
|
||
//chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].s * 800 - vt_data[TEMP].key[KEY_PRESS].d * 800;
|
||
|
||
gimbal_cmd_send.yaw -= (float)vt_data[TEMP].mouse.x / 660 * 3; // 系数待测
|
||
gimbal_cmd_send.pitch -= (float)vt_data[TEMP].mouse.y / 660 * 3;
|
||
|
||
|
||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
|
||
{
|
||
case 0:
|
||
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
||
break;
|
||
default:
|
||
shoot_cmd_send.friction_mode = FRICTION_ON;
|
||
break;
|
||
}
|
||
|
||
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键侧身
|
||
{
|
||
case 0:
|
||
//chassis_cmd_send.offset_angle = CalcOffsetAngle();
|
||
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
||
break;
|
||
default:
|
||
//chassis_cmd_send.offset_angle = loop_float_constrain(CalcOffsetAngle() + 90,-180,180);
|
||
chassis_cmd_send.chassis_mode = CHASSIS_LATERAL;
|
||
break;
|
||
}
|
||
//R键手动刷新UI 发到底盘板自己处理
|
||
chassis_cmd_send.UI_refresh = vt_data[TEMP].key_count[KEY_PRESS][Key_R];
|
||
}
|
||
|
||
/**
|
||
* @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 || chassis_fetch_data.power_management_chassis_output == 0) //死亡状态 急停
|
||
|| 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;
|
||
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;
|
||
LOGINFO("[CMD] reinstate, robot ready");
|
||
}
|
||
}
|
||
|
||
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
|
||
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
|
||
if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制
|
||
{
|
||
RemoteControlSet();
|
||
}
|
||
|
||
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
|
||
{
|
||
MouseKeySet();
|
||
}
|
||
|
||
else if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[中],图传链路
|
||
VTMouseKeySet();
|
||
|
||
|
||
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
|
||
|
||
pitch_limit();
|
||
//设置视觉识别颜色
|
||
VisionSetFlag(chassis_fetch_data.enemy_color);
|
||
gimbal_cmd_send.chassis_rotate_wz = chassis_fetch_data.real_wz;
|
||
|
||
// 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);
|
||
}
|