300 lines
12 KiB
C
300 lines
12 KiB
C
#include "shoot.h"
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#include "robot_def.h"
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#include "dji_motor.h"
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#include "message_center.h"
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#include "bsp_dwt.h"
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#include "general_def.h"
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#include "servo_motor.h"
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/* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */
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static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机
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static ServoInstance *lid;
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static Publisher_t *shoot_pub;
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static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息
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static Subscriber_t *shoot_sub;
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static Shoot_Upload_Data_s shoot_feedback_data; // 来自cmd的发射控制信息
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// dwt定时,计算冷却用
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static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0;
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void ShootInit()
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{
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// 左摩擦轮
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Motor_Init_Config_s friction_config = {
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.can_init_config = {
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.can_handle = &hcan2,
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},
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.controller_param_init_config = {
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.speed_PID = {
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.Kp = 1.5f,
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.Ki = 0.2f,
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.Kd = 0,
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.Improve = PID_Integral_Limit,
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.IntegralLimit = 10000,
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.MaxOut = 15000,
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},
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.current_PID = {
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.Kp = 0,
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.Ki = 0,
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.Kd = 0,
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.Improve = PID_Integral_Limit,
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.IntegralLimit = 10000,
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.MaxOut = 15000,
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},
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},
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = SPEED_LOOP,
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.close_loop_type = SPEED_LOOP,
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},
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.motor_type = M3508};
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friction_config.can_init_config.tx_id = 2,
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friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
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friction_l = DJIMotorInit(&friction_config);
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friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
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friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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friction_r = DJIMotorInit(&friction_config);
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// 拨盘电机
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Motor_Init_Config_s loader_config = {
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.can_init_config = {
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.can_handle = &hcan2,
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.tx_id = 1,
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},
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.controller_param_init_config = {
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.angle_PID = {
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// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
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.Kp = 500,
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.Ki = 100,
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.Kd = 0,
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.MaxOut = 5000,
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},
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.speed_PID = {
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.Kp = 2, // 3
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.Ki = 0, // 1
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.Kd = 0,
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.Improve = PID_Integral_Limit,
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.IntegralLimit = 5000,
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.MaxOut = 10000,
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},
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.current_PID = {
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.Kp = 0, // 0.7
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.Ki = 0, // 0.1
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.Kd = 0,
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.Improve = PID_Integral_Limit,
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.IntegralLimit = 5000,
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.MaxOut = 5000,
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},
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},
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
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.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
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.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
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//.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
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},
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.motor_type = M2006 // 英雄使用m3508
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};
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loader = DJIMotorInit(&loader_config);
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shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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Servo_Init_Config_s lid_config = {
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.htim = &htim1,
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.Channel = TIM_CHANNEL_1,
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.Servo_type = Servo180,
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.Servo_Angle_Type = Free_Angle_mode,
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};
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lid = ServoInit(&lid_config);
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// SPI_Init_Config_s rgb_config = {
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// .spi_handle = ;
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// .GPIOx = GPIOx;
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// .cs_pin = cs_pin;
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// .spi_work_mode = spi_work_mode;
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// .callback = callback;
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// .id = 1;
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// }
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}
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//卡弹检测
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void stalled_detect()
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{
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static float last_detect_time = 0,detect_time = 0;
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static float last_total_angle = 0;
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static uint8_t stalled_cnt = 0;
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detect_time = DWT_GetTimeline_ms();
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//last_detect_time + 200 > detect_time
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if(detect_time - last_detect_time < 200) // 200ms 检测一次
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return;
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// reference_angle = (detect_time - last_detect_time) * loader->motor_controller.speed_PID.Ref * 1e-3f;
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// real_angle = loader->measure.total_angle - last_total_angle;
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if(shoot_cmd_recv.loader_mode == LOAD_BURSTFIRE)
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{
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//if(real_angle < reference_angle * 0.2f)
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if(abs(loader->measure.real_current)>=9500)
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{
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//stalled_cnt ++;
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shoot_feedback_data.stalled_flag = 1;
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}
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last_detect_time = DWT_GetTimeline_ms();
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}
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// last_detect_time = DWT_GetTimeline_ms();
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// last_total_angle = loader->measure.total_angle;
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}
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// 热量控制
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//void Heat_control()
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//{
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// if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit))
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// {
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// DJIMotorStop(loader);
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// }
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// else
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// {
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// DJIMotorEnable(loader);
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// }
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//}
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/* 机器人发射机构控制核心任务 */
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void ShootTask()
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{
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//从cmd获取控制数据
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SubGetMessage(shoot_sub, &shoot_cmd_recv);
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// 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止)
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if (shoot_cmd_recv.shoot_mode == SHOOT_OFF)
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{
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DJIMotorSetRef(friction_l, 0);
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DJIMotorSetRef(friction_r, 0);
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DJIMotorStop(loader);
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}
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else // 恢复运行
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{
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//DJIMotorEnable(friction_l);
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//DJIMotorEnable(friction_r);
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DJIMotorEnable(loader);
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}
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// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
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// 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
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if (hibernate_time + dead_time > DWT_GetTimeline_ms())
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return;
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// 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换
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switch (shoot_cmd_recv.loader_mode)
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{
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// 停止拨盘
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case LOAD_STOP:
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DJIMotorOuterLoop(loader, SPEED_LOOP); // 切换到速度环
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DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快
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break;
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// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
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case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
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DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
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DJIMotorSetRef(loader, loader->measure.total_angle - ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = 150; // 完成1发弹丸发射的时间
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break;
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// 三连发,如果不需要后续可能删除
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case LOAD_3_BULLET:
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DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
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DJIMotorSetRef(loader, loader->measure.total_angle - 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = 1000; // 完成3发弹丸发射的时间
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break;
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// 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
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case LOAD_BURSTFIRE:
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DJIMotorOuterLoop(loader, SPEED_LOOP);
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DJIMotorSetRef(loader, -(shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8 * GEAR_RATIO));
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// x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度(DJIMotor的速度单位是angle per second)
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break;
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// 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈和电机电流)
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// 也有可能需要从switch-case中独立出来
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case LOAD_REVERSE:
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DJIMotorOuterLoop(loader, SPEED_LOOP);
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DJIMotorSetRef(loader, 8 * 360 * REDUCTION_RATIO_LOADER / 8); // 固定速度反转
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hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
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dead_time = 100; // 翻转500ms
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shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志
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// ...
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break;
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default:
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while (1)
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; // 未知模式,停止运行,检查指针越界,内存溢出等问题
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}
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// 确定是否开启摩擦轮,后续可能修改为键鼠模式下始终开启摩擦轮(上场时建议一直开启)
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if (shoot_cmd_recv.friction_mode == FRICTION_ON)
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{
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// 根据收到的弹速设置设定摩擦轮电机参考值,需实测后填入
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// switch (shoot_cmd_recv.bullet_speed)
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// {
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// case SMALL_AMU_15:
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// DJIMotorSetRef(friction_l, 0);
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// DJIMotorSetRef(friction_r, 0);
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// break;
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// case SMALL_AMU_18:
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// DJIMotorSetRef(friction_l, 0);
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// DJIMotorSetRef(friction_r, 0);
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// break;
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// case SMALL_AMU_30:
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// DJIMotorSetRef(friction_l, 0);
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// DJIMotorSetRef(friction_r, 0);
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// break;
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//default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
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DJIMotorSetRef(friction_l, 39000);
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DJIMotorSetRef(friction_r, 39000);
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// break;
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// }
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}
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else // 关闭摩擦轮
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{
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DJIMotorSetRef(friction_l, 0);
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DJIMotorSetRef(friction_r, 0);
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}
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// 开关弹舱盖
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if (shoot_cmd_recv.lid_mode == LID_CLOSE)
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{
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Servo_Motor_FreeAngle_Set(lid,115);// 小107 大115
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}
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else if (shoot_cmd_recv.lid_mode == LID_OPEN)
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{
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Servo_Motor_FreeAngle_Set(lid,10);
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}
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// 开关热控
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if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
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{
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if(shoot_cmd_recv.heat>=(0.85*shoot_cmd_recv.heat_limit))
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{
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DJIMotorStop(loader);
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}
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else
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{
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DJIMotorEnable(loader);
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}
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}
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else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) {
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DJIMotorEnable(loader);
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}
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//卡弹检测
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stalled_detect();
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// 热量控制
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//Heat_control();
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// 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈
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PubPushMessage(shoot_pub, (void *)&shoot_feedback_data);
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} |