From b997416a292f1f1702827d9ac959abb3f244b37a Mon Sep 17 00:00:00 2001 From: zyx <1323655521@qq.com> Date: Mon, 13 May 2024 05:33:38 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B6=85=E7=94=B5=E5=8A=9F=E7=8E=87=E6=8E=A7?= =?UTF-8?q?=E5=88=B6=EF=BC=8C=E4=BA=91=E5=8F=B0pid=EF=BC=8CUI=E6=9B=B4?= =?UTF-8?q?=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 39 +- application/cmd/robot_cmd.c | 54 +- application/gimbal/gimbal.c | 20 +- application/robot_def.h | 5 +- application/shoot/shoot.c | 4 +- .../application/chassis/chassis.c.obj | Bin 24928 -> 25524 bytes .../application/cmd/robot_cmd.c.obj | Bin 39540 -> 39732 bytes .../application/gimbal/gimbal.c.obj | Bin 18988 -> 19004 bytes .../application/shoot/shoot.c.obj | Bin 26620 -> 26620 bytes .../modules/referee/referee_task.c.obj | Bin 34180 -> 31276 bytes cmake-build-debug/basic_framework.bin | Bin 139036 -> 137900 bytes cmake-build-debug/basic_framework.elf | Bin 1404556 -> 1403776 bytes cmake-build-debug/basic_framework.hex | 11238 ++++++++-------- cmake-build-debug/basic_framework.map | 2553 ++-- modules/referee/referee_task.c | 193 +- xs.jdebug.user | 28 +- 16 files changed, 7049 insertions(+), 7085 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 7edff89..34ff22c 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -52,8 +52,7 @@ const static float CHASSIS_ACCEL_Y_NUM=0.1f; // 超级电容 SuperCapInstance *cap; // 超级电容全局 -float power_set; // 超级电容功率设置 - +static uint16_t last_chassis_power_limit=0;//超级电容更新 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back /* 用于自旋变速策略的时间变量 */ @@ -92,7 +91,7 @@ void ChassisInit() { .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP, // CURRENT_LOOP, - .power_limit_flag = POWER_LIMIT_ON, + .power_limit_flag = NO_POWER_LIMIT, }, .motor_type = M3508, }; @@ -102,12 +101,12 @@ void ChassisInit() { chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; motor_rf = DJIMotorInit(&chassis_motor_config); chassis_motor_config.can_init_config.tx_id = 2; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.1f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; motor_lf = DJIMotorInit(&chassis_motor_config); @@ -116,14 +115,14 @@ void ChassisInit() { chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; motor_lb = DJIMotorInit(&chassis_motor_config); chassis_motor_config.can_init_config.tx_id = 4; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.1f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; motor_rb = DJIMotorInit(&chassis_motor_config); //超级电容 @@ -134,8 +133,6 @@ void ChassisInit() { .rx_id = 0x211, }}; cap = SuperCapInit(&cap_conf); // 超级电容初始化 - power_set = 70; - SuperCapSetPower(cap,power_set); // 超级电容限制功率 //用一阶滤波代替斜波函数生成 //增大更能刹住 first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM); @@ -217,9 +214,10 @@ static void LimitChassisOutput() 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; + float K = ((float)(chassis_cmd_recv.chassis_power_limit - 3) * (Plimit + 0.50f) + (float)(chassis_cmd_recv.buffer_supercap)) / 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; motor_rf->motor_controller.motor_power_scale = K; motor_rb->motor_controller.motor_power_scale = K; motor_lf->motor_controller.motor_power_scale = K; @@ -233,7 +231,19 @@ static void LimitChassisOutput() } } - +/** + * @brief 每次随等级更新超电的设定功率 + * + * + */ +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; + } +} /** * @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 * 对于双板的情况,考虑增加来自底盘板IMU的数据 @@ -326,7 +336,8 @@ void ChassisTask() { //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; chassis_feedback_data.cap_power = 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 66a0dc9..c6578b8 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -62,7 +62,7 @@ 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 static referee_info_t *referee_data; // 用于获取裁判系统的数据 -static uint8_t load_flag = 0; //拨弹模式选择标志位 +static uint8_t loader_flag = 0; //拨弹模式选择标志位 void RobotCMDInit() { rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 @@ -145,7 +145,7 @@ static void update_ui_data() { } static void auto_aim_mode() { - trajectory_cal.v0 = 25; //弹速30 + trajectory_cal.v0 = 20; //弹速30 if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) { aim_select.suggest_fire = 0; @@ -202,15 +202,14 @@ static void RemoteControlSet() { } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台 { - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + shoot_cmd_send.lid_mode = LID_CLOSE; + } + else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上] + { + shoot_cmd_send.lid_mode = LID_OPEN; } -// else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上],小陀螺 -// { -// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; -// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; -// } // 云台参数,确定云台控制数据 if (switch_is_mid(rc_data[TEMP].rc.switch_left) || @@ -290,14 +289,17 @@ 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; + 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; + 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) { shoot_cmd_send.shoot_mode = SHOOT_ON; - if(load_flag == 0){ + if(loader_flag == 0){ shoot_cmd_send.loader_mode = LOAD_BURSTFIRE; - }else if(load_flag == 1){ + }else if(loader_flag == 1){ shoot_cmd_send.loader_mode = LOAD_3_BULLET; }else shoot_cmd_send.loader_mode = LOAD_1_BULLET; @@ -305,7 +307,6 @@ static void MouseKeySet() { } else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r)) { shoot_cmd_send.loader_mode = LOAD_STOP; - } if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式 { @@ -355,13 +356,13 @@ 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 + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖 { case 0: - shoot_cmd_send.lid_mode = LID_OPEN; + shoot_cmd_send.lid_mode = LID_CLOSE; break; default: - shoot_cmd_send.lid_mode = LID_CLOSE; + 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 @@ -378,13 +379,13 @@ static void MouseKeySet() { switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 { case 0: - load_flag = 0; + loader_flag = 0; break; case 1: - load_flag = 1; + loader_flag = 1; break; default: - load_flag = 3; + loader_flag = 3; break; } switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 @@ -417,6 +418,9 @@ static void VTMouseKeySet() gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测 gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6; + 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; + aim_select.suggest_fire = 0; if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式 { @@ -477,13 +481,13 @@ static void VTMouseKeySet() shoot_cmd_send.friction_mode = FRICTION_ON; break; } - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关弹舱盖 + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖 { case 0: - shoot_cmd_send.lid_mode = LID_OPEN; + shoot_cmd_send.lid_mode = LID_CLOSE; break; default: - shoot_cmd_send.lid_mode = LID_CLOSE; + 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 @@ -500,22 +504,22 @@ static void VTMouseKeySet() switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 { case 0: - load_flag = 0; + loader_flag = 0; break; case 1: - load_flag = 1; + loader_flag = 1; break; default: - load_flag = 3; + loader_flag = 3; break; } switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: - SuperCapSetPower(cap,40); + chassis_cmd_send.buffer_supercap = 0; break; default: - SuperCapSetPower(cap,70); + chassis_cmd_send.buffer_supercap = 195; break; } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 451e11b..0587b63 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -50,21 +50,21 @@ void GimbalInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 1.2f,//4 - .Ki = 0.0f, - .Kd = 0.05f, + .Kp = 0.8f,//1.2 + .Ki = 0.0f,//0 + .Kd = 0.04f,//0.05 .DeadBand = 0.0f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, }, .speed_PID = { - .Kp = 4000, // 2480 - .Ki = 100.0f, // 200 - .Kd = 0.0f, + .Kp = 5000, //4000 + .Ki = 100.0f, //100 + .Kd = 0.03f, //0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 10000, - .MaxOut = 20000, + .MaxOut = 15000, }, .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle, // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 @@ -88,9 +88,9 @@ void GimbalInit() { }, .controller_param_init_config = { .angle_PID = { - .Kp = 0.9f, + .Kp = 1.0f, .Ki = 0.0f, - .Kd = 0.0f, + .Kd = 0.02f, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 100, .MaxOut = 500, @@ -101,7 +101,7 @@ void GimbalInit() { .Kd = 0.0f, // 0 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .IntegralLimit = 10000, - .MaxOut = 20000, + .MaxOut = 15000, }, .other_angle_feedback_ptr = &gimba_IMU_data->Roll, // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明 diff --git a/application/robot_def.h b/application/robot_def.h index d3d86c5..aceea89 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -29,8 +29,8 @@ #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_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 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_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) +#define PITCH_MIN_ANGLE -24 // 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 #define PITCH_MIN_RELATIVE_ANGLE 80 // 云台相对底盘最小角度 @@ -152,6 +152,7 @@ typedef struct uint16_t chassis_power_limit; uint16_t buffer_energy; + uint16_t buffer_supercap; // UI部分 // ... diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 2abf9d2..bcd3a9b 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -268,11 +268,11 @@ void ShootTask() // 开关弹舱盖 if (shoot_cmd_recv.lid_mode == LID_CLOSE) { - Servo_Motor_FreeAngle_Set(lid,95); + Servo_Motor_FreeAngle_Set(lid,107); } else if (shoot_cmd_recv.lid_mode == LID_OPEN) { - Servo_Motor_FreeAngle_Set(lid,20); + Servo_Motor_FreeAngle_Set(lid,10); } //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 3f8126ec4da75b97096ce85955965132a04c8acb..57ea8ca4f2defa7c133c0615502d69e5b2c8747b 100644 GIT binary patch literal 25524 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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\libg.a(lib_a-readr.o) + .debug_frame 0x0000a470 0x20 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(_arm_unorddf2.o) diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index a9e1ccf..f33f3d0 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -22,6 +22,7 @@ static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器 static referee_info_t *referee_recv_info; // 接收到的裁判系统数据 Referee_Interactive_info_t ui_data; uint8_t UI_Seq; // 包序号,供整个referee文件使用 +extern uint8_t loader_flag = 0; //拨弹模式选择标志位 // @todo 不应该使用全局变量 /** @@ -63,6 +64,7 @@ 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 static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565}; +static String_Data_t UI_prompt_sta[3]; // 操作手提示 void MyUIInit() { @@ -83,36 +85,43 @@ void MyUIInit() 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,静态 - UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:"); + UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "chassis:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]); - UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:"); - 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, "F.frict:"); +// UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:"); +// 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, 20, 2, 10, 700, "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, "Q.lid:"); + UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "Q.lid:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); - UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); +// UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); + + // 操作手提示 + UICharDraw(&UI_prompt_sta[0], "ss8", UI_Graph_ADD,8, UI_Color_Pink, 30, 4, 1650, 700, "leng jing"); + UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[0]); + UICharDraw(&UI_prompt_sta[1], "ss9", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 800, "zhi hui"); + UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[1]); + // 底盘功率显示,静态 UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); // 绘制车辆状态标志,动态 // 由于初始化时xxx_last_mode默认为0,所以此处对应UI也应该设为0时对应的UI,防止模式不变的情况下无法置位flag,导致UI无法刷新 - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); - UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); - UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); - UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off"); +// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); +// UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); + UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 700, "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]); - UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open "); + UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "on "); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); - UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); +// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); // 能量条框 UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180); @@ -139,91 +148,91 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i switch (_Interactive_data->chassis_mode) { case CHASSIS_ZERO_FORCE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); break; case CHASSIS_ROTATE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "rotate "); // 此处注意字数对齐问题,字数相同才能覆盖掉 break; case CHASSIS_NO_FOLLOW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "nofollow "); break; case CHASSIS_FOLLOW_GIMBAL_YAW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "follow "); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0; } // gimbal - if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1) - { - switch (_Interactive_data->gimbal_mode) - { - case GIMBAL_ZERO_FORCE: - { - UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); - break; - } - case GIMBAL_FREE_MODE: - { - UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free "); - break; - } - case GIMBAL_GYRO_MODE: - { - UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro "); - break; - } - } - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); - _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0; - } +// if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1) +// { +// switch (_Interactive_data->gimbal_mode) +// { +// case GIMBAL_ZERO_FORCE: +// { +// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); +// break; +// } +// case GIMBAL_FREE_MODE: +// { +// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free "); +// break; +// } +// case GIMBAL_GYRO_MODE: +// { +// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro "); +// break; +// } +// } +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); +// _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0; +// } // shoot - if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1) - { - UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off"); - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); - _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0; - } +// if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1) +// { +// UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off"); +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); +// _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0; +// } // friction if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1) { - UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off"); + UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 700, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]); _Interactive_data->Referee_Interactive_Flag.friction_flag = 0; } // lid if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1) { - UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close"); + UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 650, _Interactive_data->lid_mode == LID_OPEN ? "on " : "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; } - // load_mode - if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1) - { - switch (_Interactive_data->loader_mode) - { - case LOAD_1_BULLET: - { - UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 "); - break; - } - case LOAD_3_BULLET: - { - UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 "); - break; - } - case LOAD_BURSTFIRE: - { - UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); - break; - } - } - UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); - _Interactive_data->Referee_Interactive_Flag.load_flag = 0; - } + // loader_mode +// if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1) +// { +// switch (loader_flag) +// { +// case 2: +// { +// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 "); +// break; +// } +// case 1: +// { +// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 "); +// break; +// } +// case 0: +// { +// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999"); +// break; +// } +// } +// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); +// _Interactive_data->Referee_Interactive_Flag.load_flag = 0; +// } // power if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1) { @@ -260,17 +269,17 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode; } - if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode) - { - _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1; - _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode; - } +// if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode) +// { +// _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1; +// _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode; +// } - if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode) - { - _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1; - _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode; - } +// if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode) +// { +// _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1; +// _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode; +// } if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode) { @@ -302,9 +311,9 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->aim_last_fire = _Interactive_data->aim_fire; } - if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode) - { - _Interactive_data->Referee_Interactive_Flag.load_flag = 1; - _Interactive_data->loader_last_mode = _Interactive_data->loader_mode; - } +// if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode) +// { +// _Interactive_data->Referee_Interactive_Flag.load_flag = 1; +// _Interactive_data->loader_last_mode = _Interactive_data->loader_mode; +// } } diff --git a/xs.jdebug.user b/xs.jdebug.user index 6419ff9..98f8724 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,26 +1,24 @@ -GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Measure", Color=#e56a6f -GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Ref", Color=#35792b -OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 +OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65 +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87 OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191 OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=459, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=1150, h=319, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=552, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=479, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=621, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=473, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1294, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1150, h=717, 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;502", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=238, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=531, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1456, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1197, h=1057, 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;841", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=269, 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;950] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((motor_lf)->motor_controller).speed_PID).Measure";" (((motor_lf)->motor_controller).speed_PID).Ref"], ColWidths=[100;100;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;114;124;114;124;110;126;126] +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;282] 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;149;104;218] @@ -39,4 +37,6 @@ WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 WatchedExpression="shoot.c::shoot_cmd_recv", RefreshRate=2, Window=Watched Data 1 WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file