图传+限位，抬升问题

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
-
+        to_stretch_cmd_send.tc += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//图传
-    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩
+        // 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))
         {

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()

application/robot.c

@@ -31,8 +31,8 @@ void RobotInit()
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
-    GimbalInit();
+    //GimbalInit();
-    //To_stretchInit();
+    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();
+    //GimbalTask();
-    //To_stretchTask();
+    To_stretchTask();
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)

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;
 

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,
+                    .outer_loop_type = SPEED_LOOP,
-                    .close_loop_type = SPEED_LOOP,//SPEED_LOOP | ANGLE_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;

engineering.jdebug.user

@@ -1,30 +1,25 @@
 
 
-GraphedExpression="(lift_position_loop).Ref", Color=#e56a6f
+OpenDocument="gimbal.cpp", FilePath="D:/zhandui/cqdm/engineering/application/gimbal/gimbal.cpp", Line=234
-GraphedExpression="(lift_position_loop).Measure", Color=#35792b
+OpenDocument="main.c", FilePath="D:/zhandui/cqdm/engineering/Src/main.c", Line=48
-GraphedExpression="(lift_position_loop).Output", Color=#769dda
-OpenDocument="main.c", FilePath="D:/CLion/Project/engineering/Src/main.c", Line=69
-OpenDocument="to_stretch.c", FilePath="D:/CLion/Project/engineering/application/to_stretch/to_stretch.c", Line=0
-OpenDocument="tasks.c", FilePath="D:/CLion/Project/engineering/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3399
-OpenDocument="startup_stm32f407ighx.s", FilePath="D:/CLion/Project/engineering/Startup/startup_stm32f407ighx.s", Line=51
-OpenDocument="arm_mat_mult_f32.c", FilePath="C:/Users/clamar01/fork3/CMSIS_5/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c", Line=0
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=603, h=208, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=603, h=387, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=398, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=1011, h=229, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=603, h=470, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=523, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
-OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1046, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=603, h=788, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=264, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1375, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1011, h=679, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;472", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="717;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="238;0"
+OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=383, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=209, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=1011, h=946, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;472", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="784;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="800;0"
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=276, h=245, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;770]
+TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;1246]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (lift_position_loop).Ref";" (lift_position_loop).Measure";" (lift_position_loop).Output"], ColWidths=[100;100;100;100;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;118;118;110;110;100;118;110]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
+TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh";"Access"], ColWidths=[257;124;104;118;100]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
-TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;351]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[257;124;104;100]
 WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="motor_ld", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="motor_rd", RefreshRate=2, Window=Watched Data 1

modules/motor/DMmotor/dmmotor.c

@@ -25,7 +25,7 @@ static float uint_to_float(int x_int, float x_min, float x_max, int bits)
     return ((float)x_int) * span / ((float)((1 << bits) - 1)) + offset;
 }
 
-static void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor)
 {
     memset(motor->motor_can_instance->tx_buff, 0xff, 7);  // 发送电机指令的时候前面7bytes都是0xff
     motor->motor_can_instance->tx_buff[7] = (uint8_t)cmd; // 最后一位是命令id

modules/motor/DMmotor/dmmotor.h

@@ -68,7 +68,7 @@ void DMMotorSetRef(DMMotorInstance *motor, float ref);
 void DMMotorOuterLoop(DMMotorInstance *motor,Closeloop_Type_e closeloop_type);
 
 void DMMotorEnable(DMMotorInstance *motor);
-
+void DMMotorSetMode(DMMotor_Mode_e cmd, DMMotorInstance *motor);
 void DMMotorStop(DMMotorInstance *motor);
 void DMMotorCaliEncoder(DMMotorInstance *motor);
 void DMMotorControlInit();