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侧向，热控开关，小大井一起

This commit is contained in:
zyx 2024-05-17 06:23:18 +08:00
parent 3390dcc7de
commit 6aaab646b0
15 changed files with 9079 additions and 8834 deletions
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63
application/chassis/chassis.c
View File

@ -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);

114
application/cmd/robot_cmd.c
View File

@ -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

12
application/robot_def.h
View File

@ -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

52
application/shoot/shoot.c
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;
@ -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);

68
cmake-build-debug/CMakeCache.txt
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16
cmake-build-debug/Makefile
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@ -47,19 +47,19 @@ cmake_force:
SHELL = cmd.exe
# The CMake executable.
CMAKE_COMMAND = D:\codeEditor\CLion\bin\cmake\win\x64\bin\cmake.exe
CMAKE_COMMAND = "D:\clion\CLion 2023.2.2\bin\cmake\win\x64\bin\cmake.exe"
# The command to remove a file.
RM = D:\codeEditor\CLion\bin\cmake\win\x64\bin\cmake.exe -E rm -f
RM = "D:\clion\CLion 2023.2.2\bin\cmake\win\x64\bin\cmake.exe" -E rm -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = C:\Users\sph\Desktop\xjcontrol\xiaojing
CMAKE_SOURCE_DIR = D:\zhandui\cqdm\xiaojing
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = C:\Users\sph\Desktop\xjcontrol\xiaojing\cmake-build-debug
CMAKE_BINARY_DIR = D:\zhandui\cqdm\xiaojing\cmake-build-debug
#=============================================================================
# Targets provided globally by CMake.
@ -67,7 +67,7 @@ CMAKE_BINARY_DIR = C:\Users\sph\Desktop\xjcontrol\xiaojing\cmake-build-debug
# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
D:\codeEditor\CLion\bin\cmake\win\x64\bin\cmake.exe -E echo "No interactive CMake dialog available."
"D:\clion\CLion 2023.2.2\bin\cmake\win\x64\bin\cmake.exe" -E echo "No interactive CMake dialog available."
.PHONY : edit_cache
# Special rule for the target edit_cache
@ -77,7 +77,7 @@ edit_cache/fast: edit_cache
# Special rule for the target rebuild_cache
rebuild_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
D:\codeEditor\CLion\bin\cmake\win\x64\bin\cmake.exe --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
"D:\clion\CLion 2023.2.2\bin\cmake\win\x64\bin\cmake.exe" --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
@ -86,9 +86,9 @@ rebuild_cache/fast: rebuild_cache
# The main all target
all: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start C:\Users\sph\Desktop\xjcontrol\xiaojing\cmake-build-debug\CMakeFiles C:\Users\sph\Desktop\xjcontrol\xiaojing\cmake-build-debug\\CMakeFiles\progress.marks
$(CMAKE_COMMAND) -E cmake_progress_start D:\zhandui\cqdm\xiaojing\cmake-build-debug\CMakeFiles D:\zhandui\cqdm\xiaojing\cmake-build-debug\\CMakeFiles\progress.marks
$(MAKE) $(MAKESILENT) -f CMakeFiles\Makefile2 all
$(CMAKE_COMMAND) -E cmake_progress_start C:\Users\sph\Desktop\xjcontrol\xiaojing\cmake-build-debug\CMakeFiles 0
$(CMAKE_COMMAND) -E cmake_progress_start D:\zhandui\cqdm\xiaojing\cmake-build-debug\CMakeFiles 0
.PHONY : all
# The main clean target

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4
cmake-build-debug/cmake_install.cmake
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@ -1,4 +1,4 @@
# Install script for directory: C:/Users/sph/Desktop/xjcontrol/xiaojing
# Install script for directory: D:/zhandui/cqdm/xiaojing
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
@ -45,5 +45,5 @@ endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "C:/Users/sph/Desktop/xjcontrol/xiaojing/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
file(WRITE "D:/zhandui/cqdm/xiaojing/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

54
modules/referee/referee_task.c
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@ -93,8 +93,12 @@ void MyUIInit()
// 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, 20, 2, 10, 650, "B.lid:");
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 650, "B.lid:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 600, "Q.heat:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 800, "C.ce:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
// 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]);
@ -118,8 +122,12 @@ void MyUIInit()
// 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, 20, 2, 170, 650, "on ");
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 600, "on");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 800, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[6]);
// 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]);
@ -150,20 +158,23 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
{
switch (_Interactive_data->chassis_mode)
{
case CHASSIS_ZERO_FORCE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
case CHASSIS_ROTATE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on ");
// 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, 20, 2, 170, 750, "off");
break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
{
case CHASSIS_ZERO_FORCE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
case CHASSIS_ROTATE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on ");
break;
case CHASSIS_SIDEWAYS:
UICharDraw(&UI_State_dyn[6], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 800, _Interactive_data->chassis_mode == CHASSIS_SIDEWAYS ? "on " : "off");
break;
case CHASSIS_NO_FOLLOW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
}
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
@ -213,6 +224,13 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
// heat
if (_Interactive_data->Referee_Interactive_Flag.heat_flag == 1)
{
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 600, _Interactive_data->heat_mode == HEAT_OPEN ? "on " : "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
_Interactive_data->Referee_Interactive_Flag.heat_flag = 0;
}
// loader_mode
// if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1)
// {
@ -294,6 +312,12 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
if (_Interactive_data->heat_mode != _Interactive_data->heat_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.heat_flag = 1;
_Interactive_data->heat_last_mode = _Interactive_data->heat_mode;
}
if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
{
_Interactive_data->Referee_Interactive_Flag.Power_flag = 1;

3
modules/referee/rm_referee.h
View File

@ -59,6 +59,7 @@ typedef struct
uint32_t aim_flag : 1;
uint32_t cap_flag : 1;
uint32_t load_flag : 1;
uint32_t heat_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@ -74,6 +75,7 @@ typedef struct
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
uint8_t aim_fire; // 开火建议
loader_mode_e loader_mode; // 发射模式
heat_mode_e heat_mode; // 热量控制
Cap_Data_s Cap_Data; // 电容信息
// 上一次的模式，用于flag判断
@ -85,6 +87,7 @@ typedef struct
Chassis_Power_Data_s Chassis_last_Power_Data;
uint8_t aim_last_fire;
loader_mode_e loader_last_mode;
heat_mode_e heat_last_mode;
Cap_Data_s Cap_last_Data;
} Referee_Interactive_info_t;

3
modules/super_cap/super_cap.h
View File

@ -2,6 +2,7 @@
#define SUPER_CAP_H
#include "bsp_can.h"
#include "controller.h"
#pragma pack(1)
typedef struct
@ -18,12 +19,14 @@ typedef struct
{
CANInstance *can_ins; // CAN实例
SuperCap_Msg_s cap_msg; // 超级电容信息
PIDInstance buffer_pid; //
} SuperCapInstance;
/* 超级电容初始化配置 */
typedef struct
{
CAN_Init_Config_s can_config;
PID_Init_Config_s buffer_config_pid;
} SuperCap_Init_Config_s;
/**