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 e96c098..e52bfd3 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -128,8 +128,7 @@ static void RemoteControlSet() { { chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP; - - } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘不动，伸缩 + } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘不动，伸缩，图传自由 { chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE; @@ -138,6 +137,11 @@ static void RemoteControlSet() { { to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//0.0025f to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_r1;//0.0025f + to_stretch_cmd_send.tc += 0.025F * (float) rc_data[TEMP].rc.rocker_r_;//0.0025f + + // 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; //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/robot_def.h b/application/robot_def.h index 586aee6..6de6d87 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -31,6 +31,8 @@ #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 @@ -139,6 +141,7 @@ typedef struct // 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; @@ -174,7 +177,9 @@ 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..27d17f5 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; @@ -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; @@ -138,6 +137,39 @@ void To_stretchInit() { }; PIDInit(&lift_position_loop,&lift_pid_config); + // 图传电机 + Motor_Init_Config_s tuchuan_config = { + .can_init_config = { + .can_handle = &hcan2, + .tx_id = 1, + }, + .controller_param_init_config = { + .angle_PID = { + .Kp = 20, + .Ki = 10, + .Kd = 0, + .MaxOut = 15000, + }, + .speed_PID = { + .Kp = 2.0f, + .Ki = 1.0f, + .Kd = 0, + .Improve = PID_Integral_Limit, + .IntegralLimit = 5000, + .MaxOut = 30000, + }, + }, + .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)); @@ -177,6 +209,7 @@ void To_stretchTask() DJIMotorStop(motor_ru); DJIMotorStop(motor_ld); DJIMotorStop(motor_rd); + DJIMotorStop(tuchuan); } else { // 正常工作 @@ -184,9 +217,10 @@ 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: @@ -194,25 +228,27 @@ void To_stretchTask() DJIMotorStop(motor_ru); DJIMotorStop(motor_ld); DJIMotorStop(motor_rd); + DJIMotorStop(tuchuan); break; case TO_STRETCH_MODE: DJIMotorEnable(motor_lu); DJIMotorEnable(motor_ru); DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); + DJIMotorEnable(tuchuan); -// 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); DJIMotorSetRef(motor_rd, fb_speed_set); + DJIMotorSetRef(tuchuan, to_stretch_cmd_recv.tc); break; case TO_STRETCH_KEEP: DJIMotorEnable(motor_lu); DJIMotorEnable(motor_ru); DJIMotorEnable(motor_ld); DJIMotorEnable(motor_rd); + DJIMotorEnable(tuchuan); break; default: break; diff --git a/engineering.jdebug.user b/engineering.jdebug.user index eedf644..e67ff27 100644 --- a/engineering.jdebug.user +++ b/engineering.jdebug.user @@ -1,35 +1,27 @@ -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", 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 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