diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index b583564..c909dbb 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -116,6 +116,13 @@ static void CalcOffsetAngle() { #endif } +static void death_check() +{ + if(referee_data->GameRobotState.remain_HP) + { + gimbal_cmd_send.MotorEnableFlag=5; + } +} /** * @brief 控制输入为遥控器(调试时)的模式和控制量设置 * @@ -128,7 +135,7 @@ static void update_ui_data() { // 出招表 static void RemoteControlSet() { - if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],底盘运动,伸缩保持不动 + if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘运动,伸缩保持不动 { chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP; @@ -137,8 +144,11 @@ static void RemoteControlSet() { chassis_cmd_send.vx = 15.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向 chassis_cmd_send.vy = 15.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向 chassis_cmd_send.wz = -1.0f * (float) rc_data[TEMP].rc.rocker_l_; //旋转 - - } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩 + to_stretch_cmd_send.tc += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//图传 + // 图传限位 + if (to_stretch_cmd_send.tc >= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MAX_ANGLE; + if (to_stretch_cmd_send.tc <= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MIN_ANGLE; + } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩运动 { chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE; @@ -149,13 +159,14 @@ static void RemoteControlSet() { to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l_;//抬升 to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//前伸 + //伸缩限位待添加 // 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; } // 右侧开关状态为[下],机械臂 - if (switch_is_down(rc_data[TEMP].rc.switch_right)) { + if (switch_is_up(rc_data[TEMP].rc.switch_right)) { // 左侧开关状态为[下],前三轴 if(switch_is_down(rc_data[TEMP].rc.switch_left)) { diff --git a/application/gimbal/gimbal.cpp b/application/gimbal/gimbal.cpp index eaa7f37..53658c2 100644 --- a/application/gimbal/gimbal.cpp +++ b/application/gimbal/gimbal.cpp @@ -220,12 +220,22 @@ void GimbalInit() }; PIDInit(&diff_roll_spd_loop,&diff_roll_spd_config); - gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 // YAW gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); } +//static void DMMotroEnable() +//{ +// if(gimbal_cmd_recv.MotorEnableFlag) +// { +// DMMotorSetMode(DM_CMD_MOTOR_MODE,yaw_motor); +// DMMotorSetMode(DM_CMD_MOTOR_MODE,pitch_motor); +// DMMotorSetMode(DM_CMD_MOTOR_MODE,roll_motor); +// DMMotorSetMode(DM_CMD_MOTOR_MODE,diff_r_motor ); +// DMMotorSetMode(DM_CMD_MOTOR_MODE,diff_l_motor ); +// } +//} /* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */ void GimbalTask() diff --git a/application/robot.c b/application/robot.c index 4619b61..ee1cf10 100644 --- a/application/robot.c +++ b/application/robot.c @@ -31,8 +31,8 @@ void RobotInit() #if defined(ONE_BOARD) || defined(GIMBAL_BOARD) RobotCMDInit(); - GimbalInit(); - //To_stretchInit(); + //GimbalInit(); + To_stretchInit(); #endif #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) @@ -49,8 +49,8 @@ void RobotTask() { #if defined(ONE_BOARD) || defined(GIMBAL_BOARD) RobotCMDTask(); - GimbalTask(); - //To_stretchTask(); + //GimbalTask(); + To_stretchTask(); #endif #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) diff --git a/application/robot_def.h b/application/robot_def.h index 577f976..df23ee0 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -35,9 +35,6 @@ #define YAW 60 - - - // 云台参数 #define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机position值,若对云台有机械改动需要修改 #define YAW_ECD_GREATER_THAN_4096 1 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度 @@ -150,7 +147,7 @@ typedef struct float diff_pitch; //差速器pitch float diff_roll; //差速器roll float chassis_rotate_wz; - + uint8_t MotorEnableFlag; gimbal_mode_e gimbal_mode; } Gimbal_Ctrl_Cmd_s; diff --git a/application/to_stretch/to_stretch.c b/application/to_stretch/to_stretch.c index 27d17f5..4cd45f7 100644 --- a/application/to_stretch/to_stretch.c +++ b/application/to_stretch/to_stretch.c @@ -25,6 +25,7 @@ float l_lift = 0,r_lift = 0; float lift_z = 0; //抬升高度 float ld_offset = 0,rd_offset = 0; float lu_offset = 0,ru_offset = 0; +float kp=4,ki=1,kd=0;//调试用 PIDInstance protract_position_loop;//前伸位置环 PIDInstance lift_position_loop;//抬升位置环 @@ -45,24 +46,23 @@ void To_stretchInit() { .MaxOut = 500, }, .speed_PID = { - .Kp = 2, + .Kp = 4, .Ki = 1, .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 2500, - .MaxOut = 5000, + .MaxOut = 13000, }, .current_feedforward_ptr = &gravity_feedforward, }, .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = SPEED_LOOP,//ANGLE_LOOP, - .close_loop_type = SPEED_LOOP,//SPEED_LOOP | ANGLE_LOOP, + .outer_loop_type = SPEED_LOOP, + .close_loop_type = SPEED_LOOP, .feedforward_flag = CURRENT_FEEDFORWARD, }, .motor_type = M3508, - }; // 前后 Motor_Init_Config_s fb_config = { @@ -123,7 +123,7 @@ void To_stretchInit() { .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, - .MaxOut = 20000, + .MaxOut = 15000, }; PIDInit(&protract_position_loop,&protract_pid_config); @@ -133,14 +133,14 @@ void To_stretchInit() { .Kd = 0, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, - .MaxOut = 20000, + .MaxOut = 15000, }; PIDInit(&lift_position_loop,&lift_pid_config); // 图传电机 Motor_Init_Config_s tuchuan_config = { .can_init_config = { - .can_handle = &hcan2, + .can_handle = &hcan1, .tx_id = 1, }, .controller_param_init_config = { @@ -148,7 +148,7 @@ void To_stretchInit() { .Kp = 20, .Ki = 10, .Kd = 0, - .MaxOut = 15000, + .MaxOut = 5000, }, .speed_PID = { .Kp = 2.0f, @@ -156,7 +156,7 @@ void To_stretchInit() { .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 5000, - .MaxOut = 30000, + .MaxOut = 5000, }, }, .controller_setting_init_config = { @@ -178,6 +178,10 @@ void To_stretchInit() { /* 机器人伸缩控制核心任务 */ void To_stretchTask() { + motor_lu->motor_controller.speed_PID.Kp=motor_ru->motor_controller.speed_PID.Kp=kp; + motor_lu->motor_controller.speed_PID.Ki=motor_ru->motor_controller.speed_PID.Ki=ki; + motor_lu->motor_controller.speed_PID.Kd=motor_ru->motor_controller.speed_PID.Kd=kd; + static uint8_t init_flag = FALSE; if(init_flag == FALSE) { @@ -235,13 +239,11 @@ void To_stretchTask() DJIMotorEnable(motor_ru); DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); - DJIMotorEnable(tuchuan); DJIMotorSetRef(motor_lu, ud_speed_set); DJIMotorSetRef(motor_ru, -ud_speed_set); DJIMotorSetRef(motor_ld, -fb_speed_set); DJIMotorSetRef(motor_rd, fb_speed_set); - DJIMotorSetRef(tuchuan, to_stretch_cmd_recv.tc); break; case TO_STRETCH_KEEP: DJIMotorEnable(motor_lu); @@ -249,6 +251,7 @@ void To_stretchTask() DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); DJIMotorEnable(tuchuan); + DJIMotorSetRef(tuchuan, to_stretch_cmd_recv.tc); break; default: break; diff --git a/engineering.jdebug.user b/engineering.jdebug.user index eedf644..a062d3f 100644 --- a/engineering.jdebug.user +++ b/engineering.jdebug.user @@ -1,30 +1,25 @@ -GraphedExpression="(lift_position_loop).Ref", Color=#e56a6f -GraphedExpression="(lift_position_loop).Measure", Color=#35792b -GraphedExpression="(lift_position_loop).Output", Color=#769dda -OpenDocument="main.c", FilePath="D:/CLion/Project/engineering/Src/main.c", Line=69 -OpenDocument="to_stretch.c", 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