diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index f06fd04..86ed318 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -132,7 +132,15 @@ void ChassisInit() { .can_handle = &hcan1, .tx_id = 0x210, .rx_id = 0x211, - }}; + + }, + .buffer_config_pid = { + .Kp = 1.0f, + .Ki = 0, + .Kd = 0, + .MaxOut = 300, + }, + }; cap = SuperCapInit(&cap_conf); // 超级电容初始化 //用一阶滤波代替斜波函数生成 //增大更能刹住 @@ -184,6 +192,10 @@ static void OmniCalculate() { } static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f}; +float input; + +float P_max; + ///依据3508电机功率模型，预测电机输出功率 static float EstimatePower(DJIMotorInstance* chassis_motor) { @@ -201,21 +213,29 @@ static float EstimatePower(DJIMotorInstance* chassis_motor) */ static void LimitChassisOutput() { - float Plimit = 1.0f; +// 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; - 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; +// 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) + (float)(chassis_cmd_recv.buffer_supercap)) / P_cmd; + if (cap->cap_msg.cap_vol>1800) + { + P_max = input + chassis_cmd_recv.buffer_supercap ; + } + else + { + P_max = input; + } + float K = P_max / P_cmd; if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时，限制功率给小； K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd; @@ -239,11 +259,13 @@ static void LimitChassisOutput() */ static void SuperCapSetUpdate() { - if(last_chassis_power_limit != chassis_cmd_recv.chassis_power_limit) - { - SuperCapSetPower(cap,chassis_cmd_recv.chassis_power_limit); // 超级电容限制功率 - last_chassis_power_limit = chassis_cmd_recv.chassis_power_limit; - } + + + PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,30);//对缓冲功率进行闭环 + input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output; + LIMIT_MIN_MAX(input, 30, 130); + SuperCapSetPower(cap,input); + } /** * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算 @@ -286,6 +308,11 @@ void ChassisTask() { break; case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出 chassis_cmd_recv.wz = 10.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle); + LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000); + break; + case CHASSIS_SIDEWAYS: // 侧向,不单独设置pid,以误差角度平方为速度输出 + chassis_cmd_recv.wz = 10.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45); + LIMIT_MIN_MAX(chassis_cmd_recv.wz,-30000,30000); break; case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略 chassis_cmd_recv.wz = 30000; @@ -317,7 +344,8 @@ void ChassisTask() { // 根据控制模式进行正运动学解算,计算底盘输出 //MecanumCalculate(); OmniCalculate(); - + ////对缓冲功率进行闭环 + SuperCapSetUpdate(); // 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值 LimitChassisOutput(); @@ -337,8 +365,7 @@ void ChassisTask() { //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol; - //每次随等级更新超电的设定功率 - SuperCapSetUpdate(); + // 推送反馈消息 #ifdef ONE_BOARD PubPushMessage(chassis_pub, (void *) &chassis_feedback_data); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index e493496..505bf26 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -139,6 +139,7 @@ static void update_ui_data() { 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.heat_mode = shoot_cmd_send.heat_mode; ui_data.aim_fire = aim_select.suggest_fire; //ui_data.loader_mode = shoot_cmd_send.loader_mode; @@ -183,7 +184,7 @@ static void auto_aim_mode() { gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI; - if (yaw_err <= 0.5) //3度 + if (yaw_err <= 2) //3度 { aim_select.suggest_fire = 1; } @@ -269,7 +270,7 @@ 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 = 18; + shoot_cmd_send.shoot_rate = 18;// 小 18 if(shoot_fetch_data.stalled_flag ==1) shoot_cmd_send.loader_mode = LOAD_REVERSE; @@ -358,7 +359,7 @@ static void MouseKeySet() { shoot_cmd_send.friction_mode = FRICTION_ON; break; } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖 + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖 { case 0: shoot_cmd_send.lid_mode = LID_CLOSE; @@ -367,15 +368,54 @@ static void MouseKeySet() { shoot_cmd_send.lid_mode = LID_OPEN; break; } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 +// { +// case 0: +// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; +// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; +// break; +// default: +// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// break; +// } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 { case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + shoot_cmd_send.heat_mode = HEAT_OPEN; break; default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + shoot_cmd_send.heat_mode = HEAT_CLOSE; + break; + } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 + { + case 0: + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + } + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + } break; } switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 @@ -483,7 +523,7 @@ static void VTMouseKeySet() shoot_cmd_send.friction_mode = FRICTION_ON; break; } - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖 + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开关弹舱盖 { case 0: shoot_cmd_send.lid_mode = LID_CLOSE; @@ -492,15 +532,63 @@ static void VTMouseKeySet() shoot_cmd_send.lid_mode = LID_OPEN; break; } - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 +// switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 +// { +// case 0: +// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; +// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; +// break; +// default: +// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// break; +// } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 + { + case 0: + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + } + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + { + case 0: + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; + break; + default: + chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + break; + } + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 + { + case 0: + shoot_cmd_send.heat_mode = HEAT_OPEN; + break; + default: + shoot_cmd_send.heat_mode = HEAT_CLOSE; + break; + } + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 { case 0: chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; break; default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; break; } switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 diff --git a/application/robot_def.h b/application/robot_def.h index 4604e7f..cd75bc7 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,7 +26,7 @@ /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD 1443 // 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_CHASSIS_ALIGN_ECD 1443 // 小 1443 大2053 // 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 25 // 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) @@ -90,6 +90,7 @@ typedef enum CHASSIS_ROTATE, // 小陀螺模式 CHASSIS_NO_FOLLOW, // 不跟随，允许全向平移 CHASSIS_FOLLOW_GIMBAL_YAW, // 跟随模式，底盘叠加角度环控制 + CHASSIS_SIDEWAYS, // 侧向 } chassis_mode_e; // 云台模式设置 @@ -114,7 +115,7 @@ typedef enum typedef enum { - LID_OPEN = 0, // 弹舱盖打开 + LID_OPEN , // 弹舱盖打开 LID_CLOSE, // 弹舱盖关闭 } lid_mode_e; @@ -126,7 +127,11 @@ typedef enum LOAD_3_BULLET, // 三发 LOAD_BURSTFIRE, // 连发 } loader_mode_e; - +typedef enum +{ + HEAT_OPEN , // 热控打开 + HEAT_CLOSE, // 热控关闭 +}heat_mode_e; // 功率限制,从裁判系统获取,是否有必要保留? typedef struct { @@ -179,6 +184,7 @@ typedef struct loader_mode_e loader_mode; lid_mode_e lid_mode; friction_mode_e friction_mode; + heat_mode_e heat_mode; Bullet_Speed_e bullet_speed; // 弹速枚举 float shoot_rate; // 连续发射的射频,unit per s,发/秒 diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index bcd3a9b..4ce1834 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -28,16 +28,16 @@ void ShootInit() }, .controller_param_init_config = { .speed_PID = { - .Kp = 1.5f, // 20 - .Ki = 0.2f, // 1 + .Kp = 1.5f, + .Ki = 0.2f, .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, .MaxOut = 15000, }, .current_PID = { - .Kp = 0, // 0.7 - .Ki = 0, // 0.1 + .Kp = 0, + .Ki = 0, .Kd = 0, .Improve = PID_Integral_Limit, .IntegralLimit = 10000, @@ -49,11 +49,11 @@ void ShootInit() .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, }, .motor_type = M3508}; friction_config.can_init_config.tx_id = 2, - friction_l = DJIMotorInit(&friction_config); + friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; + friction_l = DJIMotorInit(&friction_config); friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行 friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; @@ -154,17 +154,17 @@ void stalled_detect() } // 热量控制 -void Heat_control() -{ - if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) - { - DJIMotorStop(loader); - } - else - { - DJIMotorEnable(loader); - } -} +//void Heat_control() +//{ +// if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) +// { +// DJIMotorStop(loader); +// } +// else +// { +// DJIMotorEnable(loader); +// } +//} /* 机器人发射机构控制核心任务 */ void ShootTask() @@ -274,10 +274,26 @@ void ShootTask() { Servo_Motor_FreeAngle_Set(lid,10); } + + // 开关热控 + if(shoot_cmd_recv.heat_mode == HEAT_OPEN) + { + if(shoot_cmd_recv.heat>=(0.9*shoot_cmd_recv.heat_limit)) + { + DJIMotorStop(loader); + } + else + { + DJIMotorEnable(loader); + } + } + else if(shoot_cmd_recv.heat_mode == HEAT_CLOSE) { + DJIMotorEnable(loader); + } //卡弹检测 stalled_detect(); // 热量控制 - Heat_control(); + //Heat_control(); // 反馈数据,目前暂时没有要设定的反馈数据,后续可能增加应用离线监测以及卡弹反馈 PubPushMessage(shoot_pub, (void *)&shoot_feedback_data); diff --git a/cmake-build-debug/CMakeCache.txt b/cmake-build-debug/CMakeCache.txt index e3463a8..3237533 100644 --- a/cmake-build-debug/CMakeCache.txt +++ b/cmake-build-debug/CMakeCache.txt @@ -1,6 +1,6 @@ # This is the CMakeCache file. -# For build in directory: c:/Users/sph/Desktop/xjcontrol/xiaojing/cmake-build-debug -# It was generated by CMake: D:/codeEditor/CLion/bin/cmake/win/x64/bin/cmake.exe +# For build in directory: d:/zhandui/cqdm/xiaojing/cmake-build-debug +# It was generated by CMake: D:/clion/CLion 2023.2.2/bin/cmake/win/x64/bin/cmake.exe # You can edit this file to change values found and used by cmake. # If you do not want to change any of the values, simply exit the editor. # If you do want to change a value, simply edit, save, and exit the editor. @@ -15,15 +15,15 @@ ######################## //Path to a program. -CMAKE_ADDR2LINE:FILEPATH=D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-addr2line.exe +CMAKE_ADDR2LINE:FILEPATH=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-addr2line.exe //A wrapper around 'ar' adding the appropriate '--plugin' option // for the GCC compiler -CMAKE_ASM_COMPILER_AR:FILEPATH=D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ar.exe +CMAKE_ASM_COMPILER_AR:FILEPATH=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ar.exe //A wrapper around 'ranlib' adding the appropriate '--plugin' option // for the GCC compiler -CMAKE_ASM_COMPILER_RANLIB:FILEPATH=D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ranlib.exe +CMAKE_ASM_COMPILER_RANLIB:FILEPATH=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ranlib.exe //Flags used by the ASM compiler during all build types. CMAKE_ASM_FLAGS:STRING= @@ -58,13 +58,16 @@ CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING= //Enable colored diagnostics throughout. CMAKE_COLOR_DIAGNOSTICS:BOOL=ON +//CXX compiler +CMAKE_CXX_COMPILER:STRING=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe + //A wrapper around 'ar' adding the appropriate '--plugin' option // for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ar.exe +CMAKE_CXX_COMPILER_AR:FILEPATH=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ar.exe //A wrapper around 'ranlib' adding the appropriate '--plugin' option // for the GCC compiler -CMAKE_CXX_COMPILER_RANLIB:FILEPATH=D:/codeSoftware/STM32/gcc-arm-none-eabi/bin/arm-none-eabi-gcc-ranlib.exe +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc-ranlib.exe //Flags used by the CXX compiler during all build types. 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