图传+限位

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

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，图传自由
-    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘不动，伸缩
     {
         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;

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)

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;

engineering.jdebug.user

@@ -1,35 +1,27 @@
 
 
-GraphedExpression="(lift_position_loop).Ref", Color=#e56a6f
+OpenDocument="main.c", FilePath="D:/zhandui/cqdm/engineering/Src/main.c", Line=65
-GraphedExpression="(lift_position_loop).Measure", Color=#35792b
+OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/engineering/application/chassis/chassis.c", Line=94
-GraphedExpression="(lift_position_loop).Output", Color=#769dda
+OpenDocument="to_stretch.c", FilePath="D:/zhandui/cqdm/engineering/application/to_stretch/to_stretch.c", Line=215
-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=649, h=340, 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=1, w=1206, h=264, 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=546, h=384, 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=649, h=716, 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=948, h=384, 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=1098, h=384, 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=0, w=1206, h=792, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;539", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="716;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="659;0"
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=285, h=384, 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;950]
-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"], ColWidths=[238;226;104;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;27]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[257;124;104;100]
+WatchedExpression="motor_lf", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_ld", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="tuchuan", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_rd", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="to_stretch_cmd_recv", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="gravity_feedforward", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="motor_lu", Window=Watched Data 1
-WatchedExpression="motor_ru", Window=Watched Data 1
-WatchedExpression="protract_position_loop", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="lift_position_loop", RefreshRate=2, Window=Watched Data 1