diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index eaec085..966dee4 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -45,7 +45,7 @@ static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数 static SuperCapInstance *cap; // 超级电容 -static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back +static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; float chassis_power = 0; static first_order_filter_type_t vx_filter; static first_order_filter_type_t vy_filter; @@ -111,7 +111,6 @@ void ChassisInit() first_order_filter_init(&vy_filter,0.002f,&chassis_y_order_filter); first_order_filter_init(&vx_filter,0.002f,&chassis_x_order_filter); - // 发布订阅初始化,如果为双板,则需要can comm来传递消息 #ifdef CHASSIS_BOARD Chassis_IMU_data = INS_Init(); // 底盘IMU初始化 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 09a0d70..d14bcd5 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; @@ -149,6 +159,7 @@ 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; diff --git a/application/gimbal/gimbal.cpp b/application/gimbal/gimbal.cpp index c58dae3..6abbfb8 100644 --- a/application/gimbal/gimbal.cpp +++ b/application/gimbal/gimbal.cpp @@ -253,12 +253,22 @@ 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 97bc82b..df23ee0 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -35,15 +35,14 @@ #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 #define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改 #define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) #define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) +#define TUCHUAN_MAX_ANGLE 180 // 图传电机最大角度 +#define TUCHUAN_MIN_ANGLE 0 // 图传电机最小角度 // 发射参数 #define ONE_BULLET_DELTA_ANGLE 1933.272 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 #define REDUCTION_RATIO_LOADER 27.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f//初始是49，增加为27 @@ -148,13 +147,14 @@ 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; // cmd发布的伸缩控制数据,由to_stretch订阅 typedef struct { + float tc; float ud; float fb; to_stretch_mode_e to_stretch_mode; @@ -190,7 +190,9 @@ typedef struct typedef struct { - + float gravity_feedforward; + float protract_x; //前伸距离 + float lift_z; //抬升高度 } To_stretch_Upload_Data_s; #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1) diff --git a/application/to_stretch/to_stretch.c b/application/to_stretch/to_stretch.c index 96f5016..4cd45f7 100644 --- a/application/to_stretch/to_stretch.c +++ b/application/to_stretch/to_stretch.c @@ -16,7 +16,7 @@ static Subscriber_t *to_stretch_sub; // 用于订阅伸缩的 static To_stretch_Ctrl_Cmd_s to_stretch_cmd_recv; // 伸缩接收到的控制命令 static To_stretch_Upload_Data_s to_stretch_feedback_data; // 伸缩回传的反馈数据 -static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd; +static DJIMotorInstance *motor_lu, *motor_ru, *motor_ld, *motor_rd, *tuchuan; float gravity_feedforward = 3000; float l_protract = 0,r_protract = 0; @@ -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 = { @@ -96,7 +96,6 @@ void To_stretchInit() { }, .motor_type = M3508, }; - // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动 //上下 ud_config.can_init_config.tx_id = 5; ud_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; @@ -124,7 +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); @@ -134,10 +133,43 @@ 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 = &hcan1, + .tx_id = 1, + }, + .controller_param_init_config = { + .angle_PID = { + .Kp = 20, + .Ki = 10, + .Kd = 0, + .MaxOut = 5000, + }, + .speed_PID = { + .Kp = 2.0f, + .Ki = 1.0f, + .Kd = 0, + .Improve = PID_Integral_Limit, + .IntegralLimit = 5000, + .MaxOut = 5000, + }, + }, + .controller_setting_init_config = { + .angle_feedback_source = MOTOR_FEED, + .speed_feedback_source = MOTOR_FEED, + .outer_loop_type = ANGLE_LOOP, + .close_loop_type = ANGLE_LOOP | SPEED_LOOP, + .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, + }, + .motor_type = M2006 + }; + tuchuan = DJIMotorInit(&tuchuan_config); + to_stretch_sub = SubRegister("to_stretch_cmd", sizeof(To_stretch_Ctrl_Cmd_s)); to_stretch_pub = PubRegister("to_stretch_feed", sizeof(To_stretch_Upload_Data_s)); @@ -146,6 +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) { @@ -177,6 +213,7 @@ void To_stretchTask() DJIMotorStop(motor_ru); DJIMotorStop(motor_ld); DJIMotorStop(motor_rd); + DJIMotorStop(tuchuan); } else { // 正常工作 @@ -184,9 +221,10 @@ void To_stretchTask() DJIMotorEnable(motor_ru); DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); + DJIMotorEnable(tuchuan); } - // 根据模式设定运动形式 + // 根据模式设定伸缩+图传运动形式 switch (to_stretch_cmd_recv.to_stretch_mode) { case TO_STRETCH_ZERO_FORCE: @@ -194,6 +232,7 @@ void To_stretchTask() DJIMotorStop(motor_ru); DJIMotorStop(motor_ld); DJIMotorStop(motor_rd); + DJIMotorStop(tuchuan); break; case TO_STRETCH_MODE: DJIMotorEnable(motor_lu); @@ -201,8 +240,6 @@ void To_stretchTask() DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); -// DJIMotorSetRef(motor_ld, 1000); -// DJIMotorSetRef(motor_ld, 1000); DJIMotorSetRef(motor_lu, ud_speed_set); DJIMotorSetRef(motor_ru, -ud_speed_set); DJIMotorSetRef(motor_ld, -fb_speed_set); @@ -213,6 +250,8 @@ void To_stretchTask() DJIMotorEnable(motor_ru); DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); + DJIMotorEnable(tuchuan); + DJIMotorSetRef(tuchuan, to_stretch_cmd_recv.tc); break; default: break; diff --git a/modules/motor/DMmotor/dmmotor.c b/modules/motor/DMmotor/dmmotor.c index 4256e17..0915e60 100644 --- a/modules/motor/DMmotor/dmmotor.c +++ b/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 diff --git a/modules/motor/DMmotor/dmmotor.h b/modules/motor/DMmotor/dmmotor.h index 68c8fe0..3d26871 100644 --- a/modules/motor/DMmotor/dmmotor.h +++ b/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();