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319 changed files with 28623 additions and 32080 deletions

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@ -1,7 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/.." vcs="Git" />
<mapping directory="$PROJECT_DIR$" vcs="Git" />
</component>
</project>

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@ -52,7 +52,7 @@ endif ()
include_directories(Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_Driver/Inc/Legacy Middlewares/Third_Party/FreeRTOS/Source/include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F Middlewares/ST/STM32_USB_Device_Library/Core/Inc Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc Drivers/CMSIS/Device/ST/STM32F4xx/Include Drivers/CMSIS/Include Middlewares/ST/ARM/DSP/Inc
bsp bsp/adc bsp/can bsp/dwt bsp/flash bsp/gpio bsp/iic bsp/log bsp/pwm bsp/spi bsp/usart bsp/usb
modules modules/alarm modules/algorithm modules/BMI088 modules/can_comm modules/daemon modules/encoder modules/imu modules/ist8310
modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/standard_cmd
modules/led modules/master_machine modules/message_center modules/motor modules/oled modules/referee modules/remote modules/RGB modules/standard_cmd
modules/super_cap modules/TFminiPlus modules/unicomm modules/vofa modules/auto_aim
modules/motor/DJImotor modules/motor/HTmotor modules/motor/LKmotor modules/motor/servo_motor modules/motor/step_motor
application application/chassis application/cmd application/gimbal application/shoot

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@ -85,7 +85,7 @@ void MX_SPI2_Init(void)
hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi2.Init.CRCPolynomial = 10;
hspi2.Init.CRCPolynomial = 7;
if (HAL_SPI_Init(&hspi2) != HAL_OK)
{
Error_Handler();

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@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 921600;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;

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@ -50,9 +50,9 @@ static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
const static float CHASSIS_ACCEL_X_NUM=0.1f;
const static float CHASSIS_ACCEL_Y_NUM=0.1f;
static SuperCapInstance *cap; // 超级电容
// 超级电容
SuperCapInstance *cap; // 超级电容全局
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 */
@ -70,17 +70,17 @@ void ChassisInit() {
.can_init_config.can_handle = &hcan1,
.controller_param_init_config = {
.speed_PID = {
.Kp = 4.25f, // 4.5
.Ki = 0.6f, // 0.6
.Kd = 0.01f, // 0.01
.Kp = 0.0f,
.Ki = 0.0f,
.Kd = 0.0f,
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 12000,
.MaxOut = 30000,
},
.current_PID = {
.Kp = 2.2f, // 2.5
.Ki = 0.6f, // 0.8
.Kd = 0.5f, // 0.2
.Kp = 0.0f,
.Ki = 0.0f,
.Kd = 0.0f,
.IntegralLimit = 3000,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.MaxOut = 15000,
@ -90,42 +90,62 @@ void ChassisInit() {
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP, //| CURRENT_LOOP,
.close_loop_type = SPEED_LOOP, // CURRENT_LOOP,
.power_limit_flag = POWER_LIMIT_ON,
},
.motor_type = M3508,
};
// @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
// 四个轮子pid分开
//右前
chassis_motor_config.can_init_config.tx_id = 1;
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 = 0.002f;
motor_rf = DJIMotorInit(&chassis_motor_config);
//左前
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 = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_lf = DJIMotorInit(&chassis_motor_config);
//左后
chassis_motor_config.can_init_config.tx_id = 3;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_lb = DJIMotorInit(&chassis_motor_config);
//右后
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 = 5.5f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_rb = DJIMotorInit(&chassis_motor_config);
//超级电容
SuperCap_Init_Config_s cap_conf = {
.can_config = {
.can_handle = &hcan2,
.tx_id = 0x302, // 超级电容默认接收id
.rx_id = 0x301, // 超级电容默认发送id,注意tx和rx在其他人看来是反的
}};
.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
first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM);
first_order_filter_init(&vy_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM);
// PowerMeter_Init_Config_s
//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);
first_order_filter_init(&vy_filter, 0.007f, &CHASSIS_ACCEL_Y_NUM);
// 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
@ -158,13 +178,6 @@ void ChassisInit() {
* @brief ,
* ,
*/
static void MecanumCalculate() {
vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
vt_lb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
}
//全向轮解算
static void OmniCalculate() {
vt_rf = -(HALF_TRACK_WIDTH + HALF_WHEEL_BASE) * chassis_cmd_recv.wz + chassis_vx - chassis_vy;
@ -179,6 +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 = 0;
///依据3508电机功率模型预测电机输出功率
static float EstimatePower(DJIMotorInstance* chassis_motor)
{
@ -190,30 +207,38 @@ static float EstimatePower(DJIMotorInstance* chassis_motor)
return power;
}
float vofa_send_data[6];
/**
* @brief
*
*/
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) ) / P_cmd;
//float K = (float)(chassis_cmd_recv.chassis_power_limit - 5) / 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;
motor_rf->motor_controller.motor_power_scale = K;
motor_rb->motor_controller.motor_power_scale = K;
motor_lf->motor_controller.motor_power_scale = K;
@ -226,10 +251,21 @@ static void LimitChassisOutput()
DJIMotorSetRef(motor_rb, vt_rb);
}
}
/**
* @brief
*
*
*/
static void SuperCapSetUpdate()
{
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 ,,
* ,IMU的数据
@ -240,7 +276,8 @@ static void EstimateSpeed() {
// chassis_feedback_data.vx vy wz =
// ...
}
static chassis_mode_e last_chassis_mode;
static float rotate_speed = 80000;
/* 机器人底盘控制核心任务 */
void ChassisTask() {
// 后续增加没收到消息的处理(双板的情况)
@ -264,21 +301,30 @@ void ChassisTask() {
DJIMotorEnable(motor_rb);
}
// 根据控制模式设定旋转速度
switch (chassis_cmd_recv.chassis_mode) {
case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
chassis_cmd_recv.wz = 0;
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);
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;
break;
default:
break;
}
// 根据控制模式设定旋转速度
switch (chassis_cmd_recv.chassis_mode) {
case CHASSIS_NO_FOLLOW: // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
chassis_cmd_recv.wz = 0;
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 = 40.0f * chassis_cmd_recv.offset_angle * abs(chassis_cmd_recv.offset_angle);
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
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 = 40.0f * (chassis_cmd_recv.offset_angle - 45)* abs(chassis_cmd_recv.offset_angle - 45);
LIMIT_MIN_MAX(chassis_cmd_recv.wz,-40000,40000);
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
if(last_chassis_mode != CHASSIS_ROTATE){
rotate_speed = -rotate_speed;
}
chassis_cmd_recv.wz = rotate_speed;
break;
default:
break;
}
last_chassis_mode = chassis_cmd_recv.chassis_mode;
// 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
// 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
static float sin_theta, cos_theta;
@ -295,7 +341,6 @@ void ChassisTask() {
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;
// 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);
@ -303,7 +348,8 @@ 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();
@ -321,7 +367,8 @@ void ChassisTask() {
//chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
// 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
//chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol;
// 推送反馈消息
#ifdef ONE_BOARD
@ -330,4 +377,4 @@ void ChassisTask() {
#ifdef CHASSIS_BOARD
CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);
#endif // CHASSIS_BOARD
}
}

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@ -9,10 +9,12 @@
#include "general_def.h"
#include "dji_motor.h"
#include "auto_aim.h"
#include "super_cap.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"
#include "referee_task.h"
#include "vision_transfer.h"
// 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
@ -21,6 +23,8 @@
/* cmd应用包含的模块实例指针和交互信息存储*/
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
#include "can_comm.h"
#include "user_lib.h"
static CANCommInstance *cmd_can_comm; // 双板通信
#endif
#ifdef ONE_BOARD
@ -30,18 +34,22 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
extern SuperCapInstance *cap; // 超级电容
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
static VT_ctrl_t *vt_data; // 图传链路下发的键鼠遥控数据 与遥控器数据格式保持一致
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
//static Vision_Send_s vision_send_data; // 视觉发送数据
static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
static SendPacket_t vision_send_data; // 视觉发送数据
static SendPacket_t vision_send_data; // 视觉发送数据
//自瞄相关信息
static Trajectory_Type_t trajectory_cal;
static Aim_Select_Type_t aim_select;
static uint32_t no_find_cnt; // 未发现目标计数
static uint32_t no_find_cnt; // 未发现目标计数
static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭
static uint8_t choose_amor_id = 0;
static float yaw_err_for_test;
static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
@ -51,17 +59,17 @@ 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
static referee_info_t *referee_data; // 用于获取裁判系统的数据
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
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
vision_recv_data = VisionInit(); // 视觉通信串口
vt_data = VTRefereeInit(&huart1); // 图传通信串口
referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
@ -116,23 +124,41 @@ static void CalcOffsetAngle() {
#endif
}
/**
* @brief ()
*
*/
//功能:死亡后清除小陀螺的状态
static void death_check()
{
if(referee_data->GameRobotState.current_HP <= 0 || referee_data->GameRobotState.power_management_chassis_output == 0)
{
rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
}
}
//功能:等级提升弹频提高
static void shoot_rate_improve()
{
if(referee_data->GameRobotState.robot_level <= 5)
shoot_cmd_send.shoot_rate = 18;
if(referee_data->GameRobotState.robot_level >= 5)
shoot_cmd_send.shoot_rate = 25;
}
static void update_ui_data() {
ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
//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.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;
ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
}
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;
@ -150,13 +176,14 @@ static void auto_aim_mode() {
no_find_cnt = 0;
auto_aim_flag = 1;
auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
choose_amor_id = auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
float yaw_err = diff_yaw;
yaw_err_for_test = yaw_err;
if(diff_yaw>180)
diff_yaw -= 360;
@ -167,7 +194,7 @@ static void auto_aim_mode() {
gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI;
if (yaw_err <= 3) //3度
if (yaw_err <= 2) //3度
{
aim_select.suggest_fire = 1;
}
@ -176,6 +203,10 @@ static void auto_aim_mode() {
}
}
/**
* @brief ()
*
*/
static void RemoteControlSet() {
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
@ -185,15 +216,14 @@ 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) ||
@ -210,7 +240,6 @@ static void RemoteControlSet() {
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;
}
// 左侧开关状态为[下],视觉模式
if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
@ -236,9 +265,9 @@ static void RemoteControlSet() {
// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
if (rc_data[TEMP].rc.dial < -500)//
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.loader_mode = LOAD_STOP;
// 视觉控制发射
// if (aim_select.suggest_fire == 1) {
@ -251,15 +280,15 @@ 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;
shoot_cmd_send.shoot_rate = 18;
if(shoot_fetch_data.stalled_flag ==1)
shoot_cmd_send.load_mode = LOAD_REVERSE;
shoot_cmd_send.loader_mode = LOAD_REVERSE;
}
static void hand_aim_mode() {
// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 6; // 系数待测
// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
}
/**
@ -267,45 +296,50 @@ static void hand_aim_mode() {
*
*/
static void MouseKeySet() {
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 3000 - rc_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 3000 - rc_data[TEMP].key[KEY_PRESS].d * 3000;
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 10000 - rc_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 10000 - rc_data[TEMP].key[KEY_PRESS].d * 10000;
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;
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
if(loader_flag == 0){
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
}else if(loader_flag == 1){
shoot_cmd_send.loader_mode = LOAD_3_BULLET;
}else
shoot_cmd_send.loader_mode = LOAD_1_BULLET;
}
} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r))
{
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.loader_mode = LOAD_STOP;
}
if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
{
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))
{
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.loader_mode = LOAD_STOP;
} else {
auto_aim_mode();
if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
} else {
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.loader_mode = LOAD_STOP;
}
}
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
{
case 1:
@ -327,7 +361,7 @@ static void MouseKeySet() {
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{
case 0:
// shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
@ -335,13 +369,13 @@ 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) // B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
@ -355,24 +389,182 @@ static void MouseKeySet() {
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控
{
case 1:
case 0:
shoot_cmd_send.heat_mode = HEAT_OPEN;
break;
default:
shoot_cmd_send.heat_mode = HEAT_CLOSE;
break;
}
// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
// {
// case 0:
// loader_flag = 0;
// break;
// case 1:
// loader_flag = 1;
// break;
// default:
// loader_flag = 3;
// break;
// }
switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
{
case 0:
chassis_cmd_send.buffer_supercap = 5;
break;
case 1:
chassis_cmd_send.buffer_supercap = 200;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
break;
}
shoot_cmd_send.shoot_rate = 8;
shoot_rate_improve();
if(shoot_fetch_data.stalled_flag ==1)
shoot_cmd_send.load_mode = LOAD_REVERSE;
shoot_cmd_send.loader_mode = LOAD_REVERSE;
death_check();
}
/**
* @brief
*
*/
static void VTMouseKeySet()
{
chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 10000 - vt_data[TEMP].key[KEY_PRESS].s * 10000; // 系数待测 小 3000 3000
chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 10000 - vt_data[TEMP].key[KEY_PRESS].d * 10000;
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
{
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
}
} else if ((!vt_data[TEMP].mouse.press_l) && (!vt_data[TEMP].mouse.press_r))
{
shoot_cmd_send.loader_mode = LOAD_STOP;
}
if (vt_data[TEMP].mouse.press_r) // 右键自瞄模式
{
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))
{
shoot_cmd_send.loader_mode = LOAD_STOP;
} else {
auto_aim_mode();
if (aim_select.suggest_fire == 1 && vt_data[TEMP].mouse.press_l &&
shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
} else {
shoot_cmd_send.loader_mode = LOAD_STOP;
}
}
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
{
case 1:
MyUIInit();
vt_data[TEMP].key_count[KEY_PRESS][Key_R]++;
break;
default:
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键开关红点激光
{
case 0:
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_SET);
break;
default:
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_8,GPIO_PIN_RESET);
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{
case 0:
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.shoot_mode = SHOOT_ON;
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
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;
break;
default:
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
{
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 (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 (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
// {
// case 0:
// loader_flag = 0;
// break;
// case 1:
// loader_flag = 1;
// break;
// default:
// 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:
chassis_cmd_send.buffer_supercap = 5;
break;
case 1:
chassis_cmd_send.buffer_supercap = 200;
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 15000 - rc_data[TEMP].key[KEY_PRESS].d * 15000;
break;
}
shoot_rate_improve();
if(shoot_fetch_data.stalled_flag ==1)
shoot_cmd_send.loader_mode = LOAD_REVERSE;
death_check();
}
/**
* @brief ,/线/
* '300',.
@ -389,13 +581,14 @@ static void EmergencyHandler() {
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.loader_mode = LOAD_STOP;
LOGERROR("[CMD] emergency stop!");
}
// 遥控器右侧开关为[上],恢复正常运行
if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
LOGINFO("[CMD] reinstate, robot ready");
}
}
@ -414,14 +607,19 @@ void RobotCMDTask() {
update_ui_data();
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
CalcOffsetAngle();
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
RemoteControlSet();
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
MouseKeySet();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
if (robot_state != ROBOT_STOP ){
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
RemoteControlSet();
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
switch_is_mid(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[中],遥控器通道
MouseKeySet();
else if (switch_is_up(rc_data[TEMP].rc.switch_left) &&
switch_is_up(rc_data[TEMP].rc.switch_right)) // 遥控器左侧开关状态为[上],键盘控制,遥控器右侧开关状态为[上],图传链路通道
VTMouseKeySet();
}
// 设置视觉发送数据,还需增加加速度和角速度数据
VisionSetFlag(!referee_data->referee_id.Robot_Color);
@ -430,7 +628,22 @@ void RobotCMDTask() {
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;
//根据裁判系统反馈确定枪管热量控制
shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
if(referee_data->GameRobotState.power_management_chassis_output == 0){
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
}
if(referee_data->GameRobotState.power_management_gimbal_output == 0){
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
}
if (referee_data->GameRobotState.power_management_shooter_output == 0){
shoot_cmd_send.shoot_mode = SHOOT_OFF;
}
death_check();
// 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
#ifdef ONE_BOARD
@ -441,5 +654,5 @@ void RobotCMDTask() {
#endif // GIMBAL_BOARD
PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
VisionSend(&vision_send_data);
}

View File

@ -1,5 +1,6 @@
#ifndef ROBOT_CMD_H
#define ROBOT_CMD_H
#include "remote_control.h"
/**
@ -14,4 +15,4 @@ void RobotCMDInit();
*/
void RobotCMDTask();
#endif // !ROBOT_CMD_H
#endif // !ROBOT_CMD_H

View File

@ -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
@ -83,14 +83,14 @@ void GimbalInit() {
// PITCH
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 2,
.can_handle = &hcan2,
.tx_id = 1,
},
.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

View File

@ -29,6 +29,7 @@ void RobotInit()
BSPInit();
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
RobotCMDInit();
GimbalInit();

View File

@ -26,19 +26,18 @@
/* 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 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_CHASSIS_ALIGN_ECD 1393 // 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 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
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 45 // 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 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f
#define ONE_BULLET_DELTA_ANGLE 1620 // 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 36.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f 2006-36.0f
#define NUM_PER_CIRCLE 8 // 拨盘一圈的装载量
// 机器人底盘修改的参数,单位为m(米)
#define WHEEL_BASE 0.1f // 纵向轴距(前进后退方向)
@ -91,6 +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
@ -115,7 +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;
@ -127,15 +127,22 @@ 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
{ // 功率控制
uint16_t chassis_power_mx;
uint16_t last_power_mx;
{
uint16_t chassis_power_mx; // 功率限制
} Chassis_Power_Data_s;
// 电容信息
typedef struct
{
int16_t cap_vol;
} Cap_Data_s;
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
/**
* @brief ,pc在云台,
@ -154,6 +161,8 @@ typedef struct
uint16_t chassis_power_limit;
uint16_t buffer_energy;
uint16_t buffer_supercap;
uint8_t chassic_flag;
// UI部分
// ...
@ -173,12 +182,16 @@ typedef struct
typedef struct
{
shoot_mode_e shoot_mode;
loader_mode_e load_mode;
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
uint8_t rest_heat;
float shoot_rate; // 连续发射的射频,unit per s,发/秒
uint16_t heat; // 实时热量
uint16_t heat_limit; // 热量上限
uint16_t heat_cool; // 热量每秒冷却值
} Shoot_Ctrl_Cmd_s;
/* ----------------gimbal/shoot/chassis发布的反馈数据----------------*/
@ -197,10 +210,10 @@ typedef struct
// float real_vy;
// float real_wz;
uint8_t rest_heat; // 剩余枪口热量
Bullet_Speed_e bullet_speed; // 弹速限制
Enemy_Color_e enemy_color; // 0 for red, 1 for blue
Chassis_Power_Data_s chassis_power_mx;
uint16_t chassis_power_mx;
int16_t cap_vol;
} Chassis_Upload_Data_s;

View File

@ -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;
@ -68,13 +68,13 @@ void ShootInit()
.controller_param_init_config = {
.angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 0, // 10
.Ki = 0,
.Kp = 500,
.Ki = 100,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 5000,
},
.speed_PID = {
.Kp = 3, // 10
.Kp = 2, // 3
.Ki = 0, // 1
.Kd = 0,
.Improve = PID_Integral_Limit,
@ -91,10 +91,12 @@ void ShootInit()
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.angle_feedback_source = MOTOR_FEED,
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
.close_loop_type = CURRENT_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE, // 注意方向设置为拨盘的拨出的击发方向
.close_loop_type = SPEED_LOOP | ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
//.feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
},
.motor_type = M2006 // 英雄使用m3508
};
@ -111,7 +113,17 @@ void ShootInit()
};
lid = ServoInit(&lid_config);
// SPI_Init_Config_s rgb_config = {
// .spi_handle = ;
// .GPIOx = GPIOx;
// .cs_pin = cs_pin;
// .spi_work_mode = spi_work_mode;
// .callback = callback;
// .id = 1;
// }
}
//卡弹检测
void stalled_detect()
{
@ -126,7 +138,7 @@ void stalled_detect()
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)
if(shoot_cmd_recv.loader_mode == LOAD_BURSTFIRE)
{
//if(real_angle < reference_angle * 0.2f)
if(abs(loader->measure.real_current)>=9500)
@ -141,6 +153,18 @@ void stalled_detect()
// last_total_angle = loader->measure.total_angle;
}
// 热量控制
//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()
@ -151,8 +175,8 @@ void ShootTask()
// 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)
if (shoot_cmd_recv.shoot_mode == SHOOT_OFF)
{
DJIMotorStop(friction_l);
DJIMotorStop(friction_r);
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_r, 0);
DJIMotorStop(loader);
}
else // 恢复运行
@ -168,7 +192,7 @@ void ShootTask()
return;
// 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换
switch (shoot_cmd_recv.load_mode)
switch (shoot_cmd_recv.loader_mode)
{
// 停止拨盘
case LOAD_STOP:
@ -177,22 +201,22 @@ void ShootTask()
break;
// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
DJIMotorSetRef(loader, loader->measure.total_angle - ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 150; // 完成1发弹丸发射的时间
break;
// 三连发,如果不需要后续可能删除
case LOAD_3_BULLET:
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到速度环
DJIMotorSetRef(loader, loader->measure.total_angle + 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
DJIMotorSetRef(loader, loader->measure.total_angle - 3 * ONE_BULLET_DELTA_ANGLE); // 增加3发
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 300; // 完成3发弹丸发射的时间
dead_time = 1000; // 完成3发弹丸发射的时间
break;
// 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz
case LOAD_BURSTFIRE:
DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8);
DJIMotorSetRef(loader, -(shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8));
// x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度(DJIMotor的速度单位是angle per second)
break;
@ -200,7 +224,7 @@ 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 = 100; // 翻转500ms
shoot_feedback_data.stalled_flag = 0 ; //清除堵转标志
@ -230,8 +254,8 @@ void ShootTask()
// 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, 39000);
DJIMotorSetRef(friction_r, 39000);
DJIMotorSetRef(friction_l, 40000);
DJIMotorSetRef(friction_r, 40000);
// break;
// }
}
@ -244,21 +268,32 @@ 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);// 小107 大115
}
else if (shoot_cmd_recv.lid_mode == LID_OPEN)
{
Servo_Motor_FreeAngle_Set(lid,20);
Servo_Motor_FreeAngle_Set(lid,10);
}
// 开关热控
if(shoot_cmd_recv.heat_mode == HEAT_OPEN)
{
if(shoot_cmd_recv.heat>=(0.75*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();
// DJIMotorEnable(friction_l);
// DJIMotorEnable(friction_r);
// DJIMotorSetRef(friction_l, 30000);
// DJIMotorSetRef(friction_r, 30000);
// 热量控制
//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);

View File

@ -5,6 +5,7 @@
#include "bsp_log.h"
#include "bsp_dwt.h"
#include "bsp_usb.h"
#include "bsp_spi.h"
/**
* @brief bsp层初始化统一入口,bsp组件,

View File

@ -48,7 +48,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config)
}
/* 只是对HAL的函数进行了形式上的封装 */
void PWMStart(PWMInstance *pwm)
void PWMStart(PWMInstance *pwm, unsigned int i)
{
HAL_TIM_PWM_Start(pwm->htim, pwm->channel);
}

View File

@ -53,7 +53,7 @@ PWMInstance *PWMRegister(PWM_Init_Config_s *config);
*
* @param pwm pwm实例
*/
void PWMStart(PWMInstance *pwm);
void PWMStart(PWMInstance *pwm, unsigned int i);
/**
* @brief pwm占空比
*

File diff suppressed because one or more lines are too long

View File

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"D:/zhandui/cqdm/xiaojing/modules/remote/remote_control.c" "CMakeFiles/basic_framework.elf.dir/modules/remote/remote_control.c.obj" "gcc" "CMakeFiles/basic_framework.elf.dir/modules/remote/remote_control.c.obj.d"
"D:/zhandui/cqdm/xiaojing/modules/standard_cmd/std_cmd.c" "CMakeFiles/basic_framework.elf.dir/modules/standard_cmd/std_cmd.c.obj" "gcc" "CMakeFiles/basic_framework.elf.dir/modules/standard_cmd/std_cmd.c.obj.d"
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"D:/zhandui/cqdm/xiaojing/modules/unicomm/unicomm.c" "CMakeFiles/basic_framework.elf.dir/modules/unicomm/unicomm.c.obj" "gcc" "CMakeFiles/basic_framework.elf.dir/modules/unicomm/unicomm.c.obj.d"
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)
# Targets to which this target links which contain Fortran sources.

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@ -1,12 +1,12 @@
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@ -14,41 +14,41 @@ CMakeFiles/basic_framework.elf.dir/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ha
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@ -1,12 +1,12 @@
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@ -14,41 +14,41 @@ CMakeFiles/basic_framework.elf.dir/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ha
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@ -1,12 +1,12 @@
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@ -14,41 +14,41 @@ CMakeFiles/basic_framework.elf.dir/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ha
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@ -1,2 +1,2 @@
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@ -1,12 +1,12 @@
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@ -1,9 +1,9 @@
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@ -1,7 +1,7 @@
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@ -1,8 +1,8 @@
CMakeFiles/basic_framework.elf.dir/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c.obj: \
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