From 1fd8961204ff91c85a18fbc6a8dd827f1398c8d6 Mon Sep 17 00:00:00 2001 From: zyxxj <1323655521@qq。> Date: Tue, 2 Apr 2024 13:33:35 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=B9=E8=88=B1=E7=9B=96=EF=BC=8C=E5=AE=8C?= =?UTF-8?q?=E5=96=84=E8=BF=90=E5=8A=A8=E6=BB=A4=E6=B3=A2=EF=BC=8CUI?= =?UTF-8?q?=EF=BC=8C=E8=AF=86=E5=88=AB=E8=87=AA=E7=9E=84UI=E8=81=94?= =?UTF-8?q?=E7=9B=9F=E8=B5=9B=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 37 +- application/cmd/robot_cmd.c | 21 +- application/gimbal/gimbal.c | 30 +- application/robot_def.h | 3 +- application/shoot/shoot.c | 42 +- .../application/chassis/chassis.c.obj | Bin 24388 -> 24872 bytes .../application/cmd/robot_cmd.c.obj | Bin 32556 -> 32552 bytes .../application/gimbal/gimbal.c.obj | Bin 19108 -> 19048 bytes .../application/shoot/shoot.c.obj | Bin 21260 -> 25752 bytes .../application/shoot/shoot.c.obj.d | 4 +- .../compiler_depend.internal | 2 + .../compiler_depend.make | 8 +- .../modules/auto_aim/auto_aim.c.obj | Bin 21728 -> 21396 bytes .../motor/servo_motor/servo_motor.c.obj | Bin 13608 -> 13608 bytes .../modules/referee/referee_UI.c.obj | Bin 26156 -> 26156 bytes .../modules/referee/referee_task.c.obj | Bin 27464 -> 27600 bytes cmake-build-debug/basic_framework.bin | Bin 135580 -> 135788 bytes cmake-build-debug/basic_framework.elf | Bin 1391120 -> 1393512 bytes cmake-build-debug/basic_framework.hex | 10808 ++++++++-------- cmake-build-debug/basic_framework.map | 2718 ++-- modules/auto_aim/auto_aim.c | 37 +- modules/motor/servo_motor/servo_motor.c | 78 +- modules/referee/referee_task.c | 38 +- modules/referee/rm_referee.h | 3 + xs.jdebug.user | 29 +- 25 files changed, 6981 insertions(+), 6877 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 54cbc3c..752ed0f 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -47,8 +47,8 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控 static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据 static Chassis_Ctrl_Cmd_s Chassis_Power_Mx; -const static float CHASSIS_ACCEL_X_NUM=0.1666666667f; -const static float CHASSIS_ACCEL_Y_NUM=0.3333333333f; +const static float CHASSIS_ACCEL_X_NUM=0.1f; +const static float CHASSIS_ACCEL_Y_NUM=0.1f; @@ -124,8 +124,8 @@ void ChassisInit() { //用一阶滤波代替斜波函数生成 first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM); - first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM); - // PowerMeter_Init_Config_s + first_order_filter_init(&vy_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM); + // PowerMeter_Init_Config_s // 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 @@ -197,13 +197,22 @@ float vofa_send_data[6]; */ static void LimitChassisOutput() { + float Plimit = 1.0f; float P_cmd = motor_rf->motor_controller.motor_power_predict + motor_rb->motor_controller.motor_power_predict + motor_lb->motor_controller.motor_power_predict + motor_lf->motor_controller.motor_power_predict + 3.6f; - float K = (float)(chassis_cmd_recv.chassis_power_limit - 5) / P_cmd; - //vofa_send_data[2] = P_cmd; + if(chassis_cmd_recv.buffer_energy<50&&chassis_cmd_recv.buffer_energy>=40) Plimit=0.9f; + else if(chassis_cmd_recv.buffer_energy<40&&chassis_cmd_recv.buffer_energy>=35) Plimit=0.75f; + else if(chassis_cmd_recv.buffer_energy<35&&chassis_cmd_recv.buffer_energy>=30) Plimit=0.5f; + else if(chassis_cmd_recv.buffer_energy<30&&chassis_cmd_recv.buffer_energy>=20) Plimit=0.25f; + else if(chassis_cmd_recv.buffer_energy<20&&chassis_cmd_recv.buffer_energy>=10) Plimit=0.125f; + else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f; + else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f; + + float K = ((float)(chassis_cmd_recv.chassis_power_limit - 3) * (Plimit + 0.50f) ) / P_cmd; + //float K = (float)(chassis_cmd_recv.chassis_power_limit - 5) / P_cmd; motor_rf->motor_controller.motor_power_scale = K; motor_rb->motor_controller.motor_power_scale = K; @@ -276,11 +285,21 @@ void ChassisTask() { cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); + //一阶低通滤波计算 + first_order_filter_cali(&vx_filter, chassis_cmd_recv.vx); + first_order_filter_cali(&vy_filter, chassis_cmd_recv.vy); + + chassis_cmd_recv.vx = vx_filter.out; + chassis_cmd_recv.vy = vy_filter.out; + chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; - //一阶低通滤波计算 - first_order_filter_cali(&vx_filter, chassis_vx); - first_order_filter_cali(&vy_filter, chassis_vy); + + +// chassis_vx = (1.0f - 0.30f) * chassis_vx + 0.30f * (chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta); +// chassis_vy = (1.0f - 0.30f) * chassis_vy + 0.30f * (chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta); + + // 根据控制模式进行正运动学解算,计算底盘输出 //MecanumCalculate(); OmniCalculate(); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 3763791..994ee2d 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -51,6 +51,7 @@ static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 +static Shoot_Ctrl_Cmd_s shoot_cmd_recv; static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 static Robot_Status_e robot_state; // 机器人整体工作状态 @@ -124,6 +125,8 @@ static void update_ui_data() { ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; ui_data.friction_mode = shoot_cmd_send.friction_mode; ui_data.shoot_mode = shoot_cmd_send.shoot_mode; + ui_data.lid_mode = shoot_cmd_send.lid_mode; + ui_data.aim_fire = aim_select.suggest_fire; ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; } @@ -249,6 +252,8 @@ static void RemoteControlSet() { // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频, shoot_cmd_send.shoot_rate = 8; + if(shoot_fetch_data.stalled_flag ==1) + shoot_cmd_send.load_mode = LOAD_REVERSE; } static void hand_aim_mode() { @@ -268,7 +273,7 @@ static void MouseKeySet() { gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测 gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6; - + aim_select.suggest_fire = 0; if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式 { if (shoot_cmd_send.friction_mode == FRICTION_ON) { @@ -330,6 +335,15 @@ static void MouseKeySet() { shoot_cmd_send.friction_mode = FRICTION_ON; break; } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关弹舱盖 + { + case 0: + shoot_cmd_send.lid_mode = LID_OPEN; + break; + default: + shoot_cmd_send.lid_mode = LID_CLOSE; + break; + } switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 { case 0: @@ -354,6 +368,9 @@ static void MouseKeySet() { } shoot_cmd_send.shoot_rate = 8; + + if(shoot_fetch_data.stalled_flag ==1) + shoot_cmd_send.load_mode = LOAD_REVERSE; } /** @@ -411,6 +428,8 @@ void RobotCMDTask() { //根据裁判系统反馈确定底盘功率上限 chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit; + //根据裁判系统反馈确定缓冲功率 + chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy; // 推送消息,双板通信,视觉通信等 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index a7c60f8..16c9b44 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -50,20 +50,20 @@ void GimbalInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 1.5f,//4 + .Kp = 1.2f,//4 .Ki = 0.0f, - .Kd = 0.1f, - .DeadBand = 0.1f, + .Kd = 0.05f, + .DeadBand = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { - .Kp = 3300, // 2480 - .Ki = 0.0f, // 200 - .Kd = 2.0f, + .Kp = 4000, // 2480 + .Ki = 100.0f, // 200 + .Kd = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .IntegralLimit = 1200, + .IntegralLimit = 10000, .MaxOut = 20000, }, .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle, @@ -83,24 +83,24 @@ void GimbalInit() { // PITCH Motor_Init_Config_s pitch_config = { .can_init_config = { - .can_handle = &hcan2, - .tx_id = 1, + .can_handle = &hcan1, + .tx_id = 2, }, .controller_param_init_config = { .angle_PID = { - .Kp = 2.5f, + .Kp = 0.9f, .Ki = 0.0f, - .Kd = 0.1f, + .Kd = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { - .Kp = 2900, - .Ki = 0.0f, - .Kd = 0.01f, // 0 + .Kp = 6000.0f, + .Ki = 900.0f, + .Kd = 0.0f, // 0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, - .IntegralLimit = 2500, + .IntegralLimit = 10000, .MaxOut = 20000, }, .other_angle_feedback_ptr = &gimba_IMU_data->Roll, diff --git a/application/robot_def.h b/application/robot_def.h index 64ba525..e4bc938 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -29,7 +29,7 @@ #define YAW_CHASSIS_ALIGN_ECD 6822 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 #define YAW_ECD_GREATER_THAN_4096 0 // 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 4422 // 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 20 // 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_MAX_ANGLE 18 // 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 -30 // 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 PITCH_MAX_RELATIVE_ANGLE 123 // 云台相对底盘最大角度 @@ -153,6 +153,7 @@ typedef struct int chassis_speed_buff; uint16_t chassis_power_limit; + uint16_t buffer_energy; // UI部分 // ... diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 38130f1..850b2d5 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -5,10 +5,11 @@ #include "message_center.h" #include "bsp_dwt.h" #include "general_def.h" +#include "servo_motor.h" /* 对于双发射机构的机器人,将下面的数据封装成结构体即可,生成两份shoot应用实例 */ static DJIMotorInstance *friction_l, *friction_r, *loader; // 拨盘电机 -// static servo_instance *lid; 需要增加弹舱盖 +static ServoInstance *lid; static Publisher_t *shoot_pub; static Shoot_Ctrl_Cmd_s shoot_cmd_recv; // 来自cmd的发射控制信息 @@ -46,7 +47,6 @@ void ShootInit() .controller_setting_init_config = { .angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED, - .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, @@ -102,6 +102,15 @@ void ShootInit() shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); + + Servo_Init_Config_s lid_config = { + .htim = &htim1, + .Channel = TIM_CHANNEL_1, + .Servo_type = Servo180, + .Servo_Angle_Type = Free_Angle_mode, + }; + + lid = ServoInit(&lid_config); } //卡弹检测 void stalled_detect() @@ -110,29 +119,33 @@ void stalled_detect() static float last_total_angle = 0; static uint8_t stalled_cnt = 0; - last_detect_time = detect_time; detect_time = DWT_GetTimeline_ms(); + //last_detect_time + 200 > detect_time if(detect_time - last_detect_time < 200) // 200ms 检测一次 return; - +// reference_angle = (detect_time - last_detect_time) * loader->motor_controller.speed_PID.Ref * 1e-3f; +// real_angle = loader->measure.total_angle - last_total_angle; if(shoot_cmd_recv.load_mode == LOAD_BURSTFIRE) { - float reference_angle = (detect_time - last_detect_time) * loader->motor_controller.pid_ref * 1e3f; - float real_angle = loader->measure.total_angle - last_total_angle; - if(real_angle < reference_angle * 0.2f) + //if(real_angle < reference_angle * 0.2f) + if(abs(loader->measure.real_current)>=9500) { //stalled_cnt ++; shoot_feedback_data.stalled_flag = 1; + } + last_detect_time = DWT_GetTimeline_ms(); } +// last_detect_time = DWT_GetTimeline_ms(); +// last_total_angle = loader->measure.total_angle; } /* 机器人发射机构控制核心任务 */ void ShootTask() { - //从cmd获取控制数据 + //从cmd获取控制数据 SubGetMessage(shoot_sub, &shoot_cmd_recv); // 对shoot mode等于SHOOT_STOP的情况特殊处理,直接停止所有电机(紧急停止) @@ -187,9 +200,9 @@ void ShootTask() // 也有可能需要从switch-case中独立出来 case LOAD_REVERSE: DJIMotorOuterLoop(loader, SPEED_LOOP); - DJIMotorSetRef(loader, 8 * 360 * REDUCTION_RATIO_LOADER / 8); // 固定速度反转 + DJIMotorSetRef(loader, -8 * 360 * REDUCTION_RATIO_LOADER / 8); // 固定速度反转 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 - dead_time = 500; // 翻转500ms + dead_time = 100; // 翻转500ms shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志 // ... break; @@ -216,9 +229,9 @@ void ShootTask() // DJIMotorSetRef(friction_l, 0); // DJIMotorSetRef(friction_r, 0); // break; - //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速. - DJIMotorSetRef(friction_l, 34000); - DJIMotorSetRef(friction_r, 34000); + //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速. + DJIMotorSetRef(friction_l, 39000); + DJIMotorSetRef(friction_r, 39000); // break; // } } @@ -231,11 +244,12 @@ void ShootTask() // 开关弹舱盖 if (shoot_cmd_recv.lid_mode == LID_CLOSE) { + Servo_Motor_FreeAngle_Set(lid,95); //... } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { - //... + Servo_Motor_FreeAngle_Set(lid,20); } //卡弹检测 stalled_detect(); diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj index 1b15024a81d4c4902324307c49de510ab0347304..425382b412c4bee98e5cb323b25a98ea5761f4cd 100644 GIT binary patch delta 7541 zcma)=d3;nww#Tdb_U&}vUef7o-ATwoHXx7$gb=cW0kRRo9#%mXLrf4EmLZ~z?*SsX z02Pr@Kz-vj$~a&|aKRq#&hOkl!Myj!d?uey_xGG%ojO%@ z>fXAybL18I^dY$^*|NWWbMGgE-o0hj2@UUbHnfyh2O2hmE4uD#DXxxd*ur*UwZCB# z+mCb(Gu!j4+b+i**mbdw_VDwLtiZWl7gJ$bvnpXFn$~DoQD*B%ScYj`f9~arj_~Wx 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d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) .rodata.two_over_pi - 0x0801fc28 0x108 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) + 0x0801fcf8 0x108 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-e_rem_pio2.o) .rodata.CSWTCH.8 - 0x0801fd30 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) + 0x0801fe00 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) .rodata.CSWTCH.9 - 0x0801fd3c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) + 0x0801fe0c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_atan2.o) .rodata.npio2_hw - 0x0801fd48 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) + 0x0801fe18 0x80 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) .rodata.two_over_pi - 0x0801fdc8 0x318 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) - .rodata.PIo2 0x080200e0 0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) + 0x0801fe98 0x318 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-ef_rem_pio2.o) + .rodata.PIo2 0x080201b0 0x40 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) .rodata.init_jk - 0x08020120 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) - .rodata.PIo2 0x08020130 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) + 0x080201f0 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-k_rem_pio2.o) + .rodata.PIo2 0x08020200 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) .rodata.init_jk - 0x0802015c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) + 0x0802022c 0xc d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-kf_rem_pio2.o) .rodata.atanhi - 0x08020168 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) + 0x08020238 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) .rodata.atanlo - 0x08020178 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) - 0x08020188 . = ALIGN (0x4) + 0x08020248 0x10 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libm.a(lib_a-sf_atan.o) + 0x08020258 . = ALIGN (0x4) -.ARM.extab 0x08020188 0x0 - 0x08020188 . = ALIGN (0x4) +.ARM.extab 0x08020258 0x0 + 0x08020258 . = ALIGN (0x4) *(.ARM.extab* .gnu.linkonce.armextab.*) - 0x08020188 . = ALIGN (0x4) + 0x08020258 . = ALIGN (0x4) -.ARM 0x08020188 0x8 - 0x08020188 . = ALIGN (0x4) - 0x08020188 __exidx_start = . +.ARM 0x08020258 0x8 + 0x08020258 . = ALIGN (0x4) + 0x08020258 __exidx_start = . *(.ARM.exidx*) - .ARM.exidx 0x08020188 0x8 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_udivmoddi4.o) - 0x08020190 __exidx_end = . - 0x08020190 . = ALIGN (0x4) + .ARM.exidx 0x08020258 0x8 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_udivmoddi4.o) + 0x08020260 __exidx_end = . + 0x08020260 . = ALIGN (0x4) -.rel.dyn 0x08020190 0x0 - .rel.iplt 0x08020190 0x0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o +.rel.dyn 0x08020260 0x0 + .rel.iplt 0x08020260 0x0 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard/crtbegin.o -.preinit_array 0x08020190 0x0 - 0x08020190 . = ALIGN (0x4) - 0x08020190 PROVIDE (__preinit_array_start = .) +.preinit_array 0x08020260 0x0 + 0x08020260 . = ALIGN (0x4) + 0x08020260 PROVIDE (__preinit_array_start = .) *(.preinit_array*) - 0x08020190 PROVIDE (__preinit_array_end = .) - 0x08020190 . = ALIGN (0x4) + 0x08020260 PROVIDE (__preinit_array_end = .) + 0x08020260 . = ALIGN (0x4) -.init_array 0x08020190 0x8 - 0x08020190 . = ALIGN (0x4) - 0x08020190 PROVIDE (__init_array_start = .) +.init_array 0x08020260 0x8 + 0x08020260 . = ALIGN (0x4) + 0x08020260 PROVIDE (__init_array_start = .) *(SORT_BY_NAME(.init_array.*)) .init_array.00000 - 0x08020190 0x4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-__call_atexit.o) + 0x08020260 0x4 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-__call_atexit.o) *(.init_array*) - .init_array 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D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_sin_f32.o) + .debug_str 0x00011435 0x6f7 D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_sin_f32.o) 0xd42 (size before relaxing) - .debug_str 0x00011b10 0x34 D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_cos_f32.o) + .debug_str 0x00011b2c 0x34 D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_cos_f32.o) 0xd42 (size before relaxing) - .debug_str 0x00011b44 0x2e D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_common_tables.o) + .debug_str 0x00011b60 0x2e D:\zhandui\cqdm\basic_framework\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a(arm_common_tables.o) 0xd1d (size before relaxing) .comment 0x00000000 0xbe @@ -8589,11 +8595,11 @@ LOAD d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/ .debug_frame 0x00006714 0xa4 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CMakeFiles/basic_framework.elf.dir/application/gimbal/gimbal.c.obj + .debug_frame 0x00006d5c 0xf0 CMakeFiles/basic_framework.elf.dir/application/robot.c.obj + .debug_frame 0x00006e4c 0x80 CMakeFiles/basic_framework.elf.dir/application/shoot/shoot.c.obj .debug_frame 0x00006ecc 0x108 CMakeFiles/basic_framework.elf.dir/bsp/can/bsp_can.c.obj .debug_frame 0x00006fd4 0x120 CMakeFiles/basic_framework.elf.dir/bsp/dwt/bsp_dwt.c.obj .debug_frame 0x000070f4 0xa0 CMakeFiles/basic_framework.elf.dir/bsp/gpio/bsp_gpio.c.obj diff --git a/modules/auto_aim/auto_aim.c b/modules/auto_aim/auto_aim.c index 7e01f96..619ab4e 100644 --- a/modules/auto_aim/auto_aim.c +++ b/modules/auto_aim/auto_aim.c @@ -104,9 +104,9 @@ int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_c if (distance[i] < distance[label_first]) { label_second = label_first; label_first = i; - } else if (distance[i] < distance[label_second]) { + } else if (distance[i] < distance[label_second] && distance[i] < distance[label_first]) { label_second = i; - } else if (distance[i] < distance[label_second] && distance[i] < distance[label_first]) { + }else if (distance[i] < distance[label_second]) { label_second = i; } } @@ -158,19 +158,29 @@ int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_c } int label_first = 0; - int label_second = 0; + int label_second = 1; - for (i = 1; i < 4; i++) { - if (distance[i] < distance[label_first]) { - label_second = label_first; - label_first = i; - } else if (distance[i] < distance[label_second]) { - label_second = i; - } else if (distance[i] < distance[label_second] && distance[i] < distance[label_first]) { - label_second = i; - } + if(distance[label_first] > distance[label_second]) + { + label_first = 1; + label_second = 0; } + if(distance[2]target_state.x, 2) + powf(aim_sel->target_state.y, 2)); @@ -188,6 +198,9 @@ int aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_c else idx = label_second; } + + idx = 0; + aim_sel->aim_point[0] = aim_sel->armor_pose[idx].x + aim_sel->target_state.vx * aim_sel->delay_time; aim_sel->aim_point[1] = aim_sel->armor_pose[idx].y + aim_sel->target_state.vy * aim_sel->delay_time; aim_sel->aim_point[2] = aim_sel->armor_pose[idx].z + aim_sel->target_state.vz * aim_sel->delay_time; diff --git a/modules/motor/servo_motor/servo_motor.c b/modules/motor/servo_motor/servo_motor.c index e5c4564..7fd8f1c 100644 --- a/modules/motor/servo_motor/servo_motor.c +++ b/modules/motor/servo_motor/servo_motor.c @@ -33,20 +33,20 @@ void Servo_Motor_FreeAngle_Set(ServoInstance *Servo_Motor, int16_t S_angle) { switch (Servo_Motor->Servo_type) { - case Servo180: - if (S_angle > 180) - S_angle = 180; - break; - case Servo270: - if (S_angle > 270) - S_angle = 270; - break; - case Servo360: - if (S_angle > 100) - S_angle = 100; - break; - default: - break; + case Servo180: + if (S_angle > 180) + S_angle = 180; + break; + case Servo270: + if (S_angle > 270) + S_angle = 270; + break; + case Servo360: + if (S_angle > 100) + S_angle = 100; + break; + default: + break; } if (S_angle < 0) S_angle = 0; @@ -92,31 +92,31 @@ void ServeoMotorControl() switch (Servo_Motor->Servo_type) { - case Servo180: - if (Servo_Motor->Servo_Angle_Type == Start_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 90; - if (Servo_Motor->Servo_Angle_Type == Final_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 90; - if (Servo_Motor->Servo_Angle_Type == Free_Angle_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 90; - __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); - break; - case Servo270: - if (Servo_Motor->Servo_Angle_Type == Start_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 135; - if (Servo_Motor->Servo_Angle_Type == Final_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 135; - if (Servo_Motor->Servo_Angle_Type == Free_Angle_mode) - compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 135; - __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); - break; - case Servo360: - /*500-2500的占空比 500-1500对应正向转速 1500-2500对于反向转速*/ - compare_value[i] = 500 + 20 * Servo_Motor->Servo_Angle.servo360speed; - __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); - break; - default: - break; + case Servo180: + if (Servo_Motor->Servo_Angle_Type == Start_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 90; + if (Servo_Motor->Servo_Angle_Type == Final_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 90; + if (Servo_Motor->Servo_Angle_Type == Free_Angle_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 90; + __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); + break; + case Servo270: + if (Servo_Motor->Servo_Angle_Type == Start_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Init_angle * 20000 / 20 / 135; + if (Servo_Motor->Servo_Angle_Type == Final_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.Final_angle * 20000 / 20 / 135; + if (Servo_Motor->Servo_Angle_Type == Free_Angle_mode) + compare_value[i] = 0.5 * 20000 / 20 + Servo_Motor->Servo_Angle.free_angle * 20000 / 20 / 135; + __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); + break; + case Servo360: + /*500-2500的占空比 500-1500对应正向转速 1500-2500对于反向转速*/ + compare_value[i] = 500 + 20 * Servo_Motor->Servo_Angle.servo360speed; + __HAL_TIM_SET_COMPARE(Servo_Motor->htim, Servo_Motor->Channel, compare_value[i]); + break; + default: + break; } } } diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index b4fe676..7dd096b 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -55,6 +55,7 @@ void UITask() } static Graph_Data_t UI_shoot_line[10]; // 射击准线 +static Graph_Data_t UI_shoot_yuan[2]; // 射击圆心 static Graph_Data_t UI_Energy[4]; // 电容能量条 static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change @@ -70,13 +71,13 @@ void MyUIInit() DeterminRobotID(); // 确定ui要发送到的目标客户端 UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI - // 绘制发射基准线 + // 绘制发射基准线和基准圆 UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]); UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740); UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]); - UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]); - UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]); - UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]); + UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Orange, 2, 960, 200, 960, 600); + UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,10); + UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]); // 绘制车辆状态标志指示 UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:"); @@ -85,9 +86,9 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]); UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]); - UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:"); + UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "F.frict:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]); - UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:"); + UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "Q.lid:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); // 绘制车辆状态标志,动态 @@ -107,23 +108,18 @@ void MyUIInit() UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); - //底盘功率上限 -// UICharDraw(&UI_State_sta[6], "ss7", UI_Graph_ADD, 8, UI_Color_Pink, 18, 2, 620, 300, "Power_MAX:"); -// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); - // 能量条框 - UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180); - UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); +// UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180); +// UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); // 底盘功率显示,动态 UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000); // 能量条初始状态 - UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); - + //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); //UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,referee_recv_info->GameRobotState.chassis_power_limit); //UIFloatDraw(&UI_Energy[3], "sd7", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 1000, 1000, referee_recv_info->GameRobotState.chassis_power_limit); - UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]); } // 测试用函数,实现模式自动变化,用于检查该任务和裁判系统是否连接正常 @@ -261,6 +257,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; } + //绘制开火建议 + if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) { + UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 10); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]); + _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; + } } /** @@ -306,4 +308,10 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->Referee_Interactive_Flag.Power_flag = 1; _Interactive_data->Chassis_last_Power_Data.last_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx; } + + if (_Interactive_data->aim_fire != _Interactive_data->aim_last_fire) + { + _Interactive_data->Referee_Interactive_Flag.aim_flag = 1; + _Interactive_data->aim_last_fire = _Interactive_data->aim_fire; + } } diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index e935e94..f99ff0b 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -54,6 +54,7 @@ typedef struct uint32_t lid_flag : 1; uint32_t friction_flag : 1; uint32_t Power_flag : 1; + uint32_t aim_flag : 1; } Referee_Interactive_Flag_t; // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据 @@ -67,6 +68,7 @@ typedef struct friction_mode_e friction_mode; // 摩擦轮关闭 lid_mode_e lid_mode; // 弹舱盖打开 Chassis_Power_Data_s Chassis_Power_Data; // 功率控制 + uint8_t aim_fire; // 开火建议 // 上一次的模式,用于flag判断 chassis_mode_e chassis_last_mode; @@ -75,6 +77,7 @@ typedef struct friction_mode_e friction_last_mode; lid_mode_e lid_last_mode; Chassis_Power_Data_s Chassis_last_Power_Data; + uint8_t aim_last_fire; } Referee_Interactive_info_t; diff --git a/xs.jdebug.user b/xs.jdebug.user index ddc9139..36c7168 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,9 +1,10 @@ -OpenDocument="xs.jdebug", FilePath="D:/zhandui/cqdm/basic_framework/xs.jdebug", Line=0 +OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/basic_framework/application/shoot/shoot.c", Line=190 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=64 OpenDocument="ins_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/imu/ins_task.c", Line=192 OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/referee/referee_task.c", Line=75 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=63 +OpenDocument="xs.jdebug", FilePath="D:/zhandui/cqdm/basic_framework/xs.jdebug", Line=0 OpenDocument="bsp_dwt.c", FilePath="D:/zhandui/cqdm/basic_framework/bsp/dwt/bsp_dwt.c", Line=75 OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/basic_framework/Startup/startup_stm32f407ighx.s", Line=46 OpenDocument="stm32f4xx_it.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/stm32f4xx_it.c", Line=102 @@ -11,28 +12,30 @@ OpenDocument="controller.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/a OpenDocument="controller.h", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.h", Line=42 OpenDocument="SEGGER_RTT.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c", Line=1181 OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/basic_framework/application/gimbal/gimbal.c", Line=105 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=180 -OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3394 +OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=103 +OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3635 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=1045, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=568, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=725, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=426, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=681, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=520, h=559, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=994, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=520, h=533, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=379, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=680, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=935, h=1093, 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;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="708;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="724;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=504, h=328, 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;950] 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;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;100;104;209] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;100;104;100] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] -TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;27] +TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26] WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1 WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1 WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1 WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1 WatchedExpression="referee_recv_info", Window=Watched Data 1 WatchedExpression="chassis_power_limit", Window=Watched Data 1 -WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="vx_filter", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file