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dajing/application/cmd/robot_cmd.c

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大井对抗赛版本
2024-05-26 21:02:35 +08:00
// app
#include "robot_def.h"
#include "robot_cmd.h"
// module
#include "remote_control.h"
#include "ins_task.h"
#include "master_process.h"
#include "message_center.h"
#include "general_def.h"
#include "dji_motor.h"
#include "auto_aim.h"
#include "super_cap.h"
#include "user_lib.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"
#include "referee_task.h"
#include "vision_transfer.h"
// 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
/* cmd应用包含的模块实例指针和交互信息存储*/
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
#include "can_comm.h"
#include "user_lib.h"
static CANCommInstance *cmd_can_comm; // 双板通信
#endif
#ifdef ONE_BOARD
static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
#endif // ONE_BOARD
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
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
extern SuperCapInstance *cap; // 超级电容
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
static VT_ctrl_t *vt_data; // 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
//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
//static Vision_Send_s vision_send_data; // 视觉发送数据
static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
static SendPacket_t vision_send_data; // 视觉发送数据
//自瞄相关信息
static Trajectory_Type_t trajectory_cal;
static Aim_Select_Type_t aim_select;
static uint32_t no_find_cnt; // 未发现目标计数
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
static uint8_t choose_amor_id = 0;
static float yaw_err_for_test;
static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Robot_Status_e robot_state; // 机器人整体工作状态
static referee_info_t *referee_data; // 用于获取裁判系统的数据
static uint8_t loader_flag = 0; //拨弹模式选择标志位
void RobotCMDInit() {
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
vision_recv_data = VisionInit(); // 视觉通信串口
vt_data = VTRefereeInit(&huart1); // 图传通信串口
referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
#ifdef ONE_BOARD // 双板兼容
chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
CANComm_Init_Config_s comm_conf = {
.can_config = {
.can_handle = &hcan1,
.tx_id = 0x312,
.rx_id = 0x311,
},
.recv_data_len = sizeof(Chassis_Upload_Data_s),
.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
};
cmd_can_comm = CANCommInit(&comm_conf);
#endif // GIMBAL_BOARD
gimbal_cmd_send.pitch = 0;
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
}
/**
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
* 单圈绝对角度的范围是0~360,说明文档中有图示
*
*/
static void CalcOffsetAngle() {
// 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
static float angle;
angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
else if (angle > 180.0f + YAW_ALIGN_ANGLE)
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
else
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
#else // 小于180度
if (angle > YAW_ALIGN_ANGLE)
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
else
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
#endif
}
//功能：死亡后清除小陀螺的状态
static void death_check() {
if (referee_data->GameRobotState.current_HP <= 0 ||
referee_data->GameRobotState.power_management_chassis_output == 0) {
rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
}
}
//功能：等级提升弹频提高
static void shoot_rate_improve() {
if (referee_data->GameRobotState.robot_level < 5)
shoot_cmd_send.shoot_rate = 12;
if (referee_data->GameRobotState.robot_level >= 5)
shoot_cmd_send.shoot_rate = 25;
}
static void update_ui_data() {
ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
//ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
ui_data.friction_mode = shoot_cmd_send.friction_mode;
//ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
ui_data.lid_mode = shoot_cmd_send.lid_mode;
ui_data.heat_mode = shoot_cmd_send.heat_mode;
ui_data.aim_fire = aim_select.suggest_fire;
//ui_data.loader_mode = shoot_cmd_send.loader_mode;
ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
}
static void auto_aim_mode() {
trajectory_cal.v0 = 26; //弹速30
if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
aim_select.suggest_fire = 0;
//未发现目标
no_find_cnt++;
if (no_find_cnt >= 2000) {
//gimbal_scan_flag = 1;
//auto_aim_flag = 0;
}
//else
//auto_aim_flag = 1;
} else {
//弹道解算
no_find_cnt = 0;
auto_aim_flag = 1;
choose_amor_id = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
float yaw_err = diff_yaw;
yaw_err_for_test = yaw_err;
if (diff_yaw > 180)
diff_yaw -= 360;
else if (diff_yaw < -180)
diff_yaw += 360;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
if (yaw_err <= 2) //3度
{
aim_select.suggest_fire = 1;
} else
aim_select.suggest_fire = 0;
}
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
*/
static void RemoteControlSet() {
// 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?
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
shoot_cmd_send.lid_mode = LID_CLOSE;
} else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
{
shoot_cmd_send.lid_mode = LID_OPEN;
}
// 云台参数,确定云台控制数据
if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
(vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
vision_recv_data->vz == 0)) // 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
{
// 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
// ...
aim_select.suggest_fire = 0;
gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
float delta_yaw_total = gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
float delta_yaw = theta_format(delta_yaw_total);
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + delta_yaw;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
}
// 左侧开关状态为[下],视觉模式
if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
auto_aim_mode();
}
// 云台软件限位
// 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，遥控器输入灵敏度
chassis_cmd_send.vx = 8.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 8.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
// 发射参数
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
; // 弹舱舵机控制,待添加servo_motor模块,开启
else; // 弹舱舵机控制,待添加servo_motor模块,关闭
// 摩擦轮控制,拨轮向上打为负,向下为正
if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
shoot_cmd_send.friction_mode = FRICTION_ON;
else
shoot_cmd_send.friction_mode = FRICTION_OFF;
// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
if (rc_data[TEMP].rc.dial < -500)//
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.loader_mode = LOAD_STOP;
// 视觉控制发射
// if (aim_select.suggest_fire == 1) {
// //shoot_cmd_send.friction_mode = FRICTION_ON;
// //shoot_cmd_send.shoot_mode = SHOOT_ON;
// shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
// } else {
// //shoot_cmd_send.friction_mode = FRICTION_OFF;
// shoot_cmd_send.load_mode = LOAD_STOP;
// }
// 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 = 18;
if (shoot_fetch_data.stalled_flag == 1)
shoot_cmd_send.loader_mode = LOAD_REVERSE;
}
static void hand_aim_mode() {
// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测
// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
}
/**
* @brief 输入为键鼠时模式和控制量设置
*
*/
static void MouseKeySet() {
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;
gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;
float delta_yaw_total = gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
float delta_yaw = theta_format(delta_yaw_total);
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + delta_yaw;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
aim_select.suggest_fire = 0;
if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
{
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
if (loader_flag == 0) {
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
} else if (loader_flag == 1) {
shoot_cmd_send.loader_mode = LOAD_3_BULLET;
} else
shoot_cmd_send.loader_mode = LOAD_1_BULLET;
}
} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r)) {
shoot_cmd_send.loader_mode = LOAD_STOP;
}
if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
{
if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
vision_recv_data->vz == 0)) {
shoot_cmd_send.loader_mode = LOAD_STOP;
} else {
auto_aim_mode();
if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
} else {
shoot_cmd_send.loader_mode = LOAD_STOP;
}
}
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
{
case 1:
MyUIInit();
rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
break;
default:
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
{
case 0:
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_SET);
break;
default:
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_RESET);
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{
case 0:
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_CLOSE;
break;
default:
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
// {
// case 0:
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
// break;
// default:
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// break;
// }
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
{
case 0:
shoot_cmd_send.heat_mode = HEAT_OPEN;
break;
default:
shoot_cmd_send.heat_mode = HEAT_CLOSE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
{
case 0:
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
break;
case 1:
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
break;
}
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
// {
// case 0:
// loader_flag = 0;
// break;
// case 1:
// loader_flag = 1;
// break;
// default:
// loader_flag = 3;
// break;
// }
switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
{
case 0:
chassis_cmd_send.buffer_supercap = 5;
break;
case 1:
chassis_cmd_send.buffer_supercap = 200;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
break;
}
shoot_rate_improve();
if (shoot_fetch_data.stalled_flag == 1)
shoot_cmd_send.loader_mode = LOAD_REVERSE;
death_check();
}
/**
* @brief 输入为（图传链路）键鼠时模式和控制量设置
*
*/
static void VTMouseKeySet() {
chassis_cmd_send.vy =
vt_data[TEMP].key[KEY_PRESS].w * 8000 - vt_data[TEMP].key[KEY_PRESS].s * 8000; // 系数待测 小 3000 3000
chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 8000 - vt_data[TEMP].key[KEY_PRESS].d * 8000;
gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
aim_select.suggest_fire = 0;
if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式
{
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
}
} else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r)) {
shoot_cmd_send.loader_mode = LOAD_STOP;
}
if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式
{
if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
vision_recv_data->vz == 0)) {
shoot_cmd_send.loader_mode = LOAD_STOP;
} else {
auto_aim_mode();
if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l &&
shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
} else {
shoot_cmd_send.loader_mode = LOAD_STOP;
}
}
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
{
case 1:
MyUIInit();
vt_data[TEMP].key_count[KEY_PRESS][Key_R]++;
break;
default:
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
{
case 0:
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_SET);
break;
default:
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_8, GPIO_PIN_RESET);
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{
case 0:
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_CLOSE;
break;
default:
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
// switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
// {
// case 0:
// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
// break;
// default:
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// break;
// }
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向
{
case 0:
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
break;
case 1:
chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
{
case 0:
shoot_cmd_send.heat_mode = HEAT_OPEN;
break;
default:
shoot_cmd_send.heat_mode = HEAT_CLOSE;
break;
}
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
// {
// case 0:
// loader_flag = 0;
// break;
// case 1:
// loader_flag = 1;
// break;
// default:
// loader_flag = 3;
// break;
// }
switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
{
case 0:
chassis_cmd_send.buffer_supercap = 5;
break;
case 1:
chassis_cmd_send.buffer_supercap = 200;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;
break;
}
shoot_rate_improve();
if (shoot_fetch_data.stalled_flag == 1)
shoot_cmd_send.loader_mode = LOAD_REVERSE;
death_check();
}
/**
* @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.loader_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;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
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);
update_ui_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();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
if (robot_state != ROBOT_STOP) {
// 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) ||
switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
RemoteControlSet();
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
MouseKeySet();
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制，遥控器右侧开关状态为[上],图传链路通道
VTMouseKeySet();
}
// 设置视觉发送数据,还需增加加速度和角速度数据
VisionSetFlag(!referee_data->referee_id.Robot_Color);
//根据裁判系统反馈确定底盘功率上限
chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
//根据裁判系统反馈确定缓冲功率
chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
//根据裁判系统反馈确定枪管热量控制
shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
if (referee_data->GameRobotState.power_management_chassis_output == 0) {
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
}
if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
}
if (referee_data->GameRobotState.power_management_shooter_output == 0) {
shoot_cmd_send.shoot_mode = SHOOT_OFF;
}
death_check();
// 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);
}