diff --git a/Src/usart.c b/Src/usart.c
index 7cc1d9c..5380395 100644
--- a/Src/usart.c
+++ b/Src/usart.c
@@ -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;
diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c
index 4dd8521..7edff89 100644
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -71,17 +71,17 @@ 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 = 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,
@@ -91,26 +91,39 @@ 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
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 = 0.01f;
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.Ki = 0.01f;
+ chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
motor_lf = DJIMotorInit(&chassis_motor_config);
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 = 5.0f;
+ chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
+ chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f;
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.Ki = 0.01f;
+ chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f;
motor_rb = DJIMotorInit(&chassis_motor_config);
//超级电容
@@ -124,9 +137,9 @@ void ChassisInit() {
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
- first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM);
- first_order_filter_init(&vy_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM);
+ //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
@@ -159,13 +172,6 @@ void ChassisInit() {
* @brief 计算每个轮毂电机的输出,正运动学解算
* 用宏进行预替换减小开销,运动解算具体过程参考教程
*/
-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;
@@ -191,7 +197,6 @@ static float EstimatePower(DJIMotorInstance* chassis_motor)
return power;
}
-float vofa_send_data[6];
/**
* @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值
*
@@ -294,7 +299,6 @@ 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);
@@ -320,7 +324,7 @@ 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_power = cap->cap_msg.cap_vol;
// 推送反馈消息
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index e5ff97b..66a0dc9 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -14,6 +14,7 @@
#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
@@ -22,6 +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
@@ -33,6 +36,8 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信
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 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
@@ -52,17 +57,17 @@ 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 load_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));
@@ -117,10 +122,15 @@ static void CalcOffsetAngle() {
#endif
}
-/**
- * @brief 控制输入为遥控器(调试时)的模式和控制量设置
- *
- */
+//功能:死亡后清除小陀螺的状态
+static void death_check()
+{
+ if(referee_data->GameRobotState.current_HP <= 0)
+ {
+ rc_data[TEMP].key_count[KEY_PRESS][Key_E] = 0;
+ }
+}
+
static void update_ui_data() {
ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
@@ -128,6 +138,7 @@ static void update_ui_data() {
ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
ui_data.lid_mode = shoot_cmd_send.lid_mode;
ui_data.aim_fire = aim_select.suggest_fire;
+ ui_data.loader_mode = shoot_cmd_send.loader_mode;
ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
ui_data.Chassis_Power_Data.cap_power = chassis_fetch_data.cap_power;
@@ -178,6 +189,10 @@ static void auto_aim_mode() {
}
}
+/**
+ * @brief 控制输入为遥控器(调试时)的模式和控制量设置
+ *
+ */
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
@@ -238,9 +253,9 @@ 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) {
@@ -253,15 +268,15 @@ 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;
-
}
/**
@@ -280,34 +295,37 @@ static void MouseKeySet() {
{
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
- shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
+ if(load_flag == 0){
+ shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
+ }else if(load_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:
@@ -329,7 +347,7 @@ 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:
@@ -357,7 +375,18 @@ static void MouseKeySet() {
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
-
+ switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
+ {
+ case 0:
+ load_flag = 0;
+ break;
+ case 1:
+ load_flag = 1;
+ break;
+ default:
+ load_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:
@@ -368,12 +397,137 @@ static void MouseKeySet() {
break;
}
- shoot_cmd_send.shoot_rate = 25;//8
+ shoot_cmd_send.shoot_rate = 25;
if(shoot_fetch_data.stalled_flag ==1)
- shoot_cmd_send.load_mode = LOAD_REVERSE;
+ shoot_cmd_send.loader_mode = LOAD_REVERSE;
+
+ death_check();
}
+/**
+ * @brief 输入为(图传链路)键鼠时模式和控制量设置
+ *
+ */
+static void VTMouseKeySet()
+{
+ chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 3000 - vt_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测
+ chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 3000 - vt_data[TEMP].key[KEY_PRESS].d * 3000;
+
+ 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;
+
+ 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_Q] % 2) // Q键开关弹舱盖
+ {
+ case 0:
+ shoot_cmd_send.lid_mode = LID_OPEN;
+ break;
+ default:
+ shoot_cmd_send.lid_mode = LID_CLOSE;
+ break;
+ }
+ switch (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_G] % 3) // G键切换发射模式
+ {
+ case 0:
+ load_flag = 0;
+ break;
+ case 1:
+ load_flag = 1;
+ break;
+ default:
+ load_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);
+ break;
+ default:
+ SuperCapSetPower(cap,70);
+ break;
+ }
+
+ shoot_cmd_send.shoot_rate = 25;
+
+ if(shoot_fetch_data.stalled_flag ==1)
+ shoot_cmd_send.loader_mode = LOAD_REVERSE;
+
+ death_check();
+}
+
+
/**
* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
* 停止的阈值'300'待修改成合适的值,或改为开关控制.
@@ -390,7 +544,7 @@ 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
@@ -419,8 +573,12 @@ void RobotCMDTask() {
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
+ 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();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
@@ -431,6 +589,10 @@ 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;
// 推送消息,双板通信,视觉通信等
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
diff --git a/application/cmd/robot_cmd.h b/application/cmd/robot_cmd.h
index f42e9ce..5f3905a 100644
--- a/application/cmd/robot_cmd.h
+++ b/application/cmd/robot_cmd.h
@@ -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
\ No newline at end of file
+#endif // !ROBOT_CMD_H
diff --git a/application/robot_def.h b/application/robot_def.h
index 283a880..d3d86c5 100644
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -26,7 +26,7 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
-#define YAW_CHASSIS_ALIGN_ECD 1371 // 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 // 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)
@@ -35,10 +35,9 @@
#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)
@@ -172,12 +171,15 @@ 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;
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----------------*/
@@ -196,7 +198,6 @@ 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
uint16_t chassis_power_mx;
diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c
index 295aa7a..2abf9d2 100644
--- a/application/shoot/shoot.c
+++ b/application/shoot/shoot.c
@@ -68,10 +68,10 @@ 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 = 2, // 3
@@ -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
};
@@ -121,6 +123,7 @@ void ShootInit()
// .id = 1;
// }
}
+
//卡弹检测
void stalled_detect()
{
@@ -135,7 +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)
@@ -150,6 +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()
@@ -160,8 +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
@@ -170,13 +185,6 @@ void ShootTask()
DJIMotorEnable(friction_r);
DJIMotorEnable(loader);
}
- //单独测试波胆
-// DJIMotorEnable(loader);
-//
-// shoot_cmd_recv.load_mode = LOAD_BURSTFIRE;
-// shoot_cmd_recv.shoot_rate = 20;
-// if(shoot_feedback_data.stalled_flag ==1)
-// shoot_cmd_recv.load_mode = LOAD_REVERSE;
// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
// 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
@@ -184,7 +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:
@@ -193,22 +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;
@@ -216,7 +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
@@ -261,7 +269,6 @@ void ShootTask()
if (shoot_cmd_recv.lid_mode == LID_CLOSE)
{
Servo_Motor_FreeAngle_Set(lid,95);
- //...
}
else if (shoot_cmd_recv.lid_mode == LID_OPEN)
{
@@ -269,12 +276,8 @@ void ShootTask()
}
//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);
diff --git a/cmake-build-debug/CMakeCache.txt b/cmake-build-debug/CMakeCache.txt
index fe517db..de50645 100644
--- a/cmake-build-debug/CMakeCache.txt
+++ b/cmake-build-debug/CMakeCache.txt
@@ -58,8 +58,8 @@ CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING=
//Enable colored diagnostics throughout.
CMAKE_COLOR_DIAGNOSTICS:BOOL=ON
-//CXX compiler
-CMAKE_CXX_COMPILER:STRING=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe
+//No help, variable specified on the command line.
+CMAKE_CXX_COMPILER:UNINITIALIZED=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-g++.exe
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
@@ -84,8 +84,8 @@ CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
-//C compiler
-CMAKE_C_COMPILER:STRING=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe
+//No help, variable specified on the command line.
+CMAKE_C_COMPILER:UNINITIALIZED=D:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gcc.exe
//A wrapper around 'ar' adding the appropriate '--plugin' option
// for the GCC compiler
diff --git a/cmake-build-debug/CMakeFiles/Makefile.cmake b/cmake-build-debug/CMakeFiles/Makefile.cmake
index cc20946..0fd8f24 100644
--- a/cmake-build-debug/CMakeFiles/Makefile.cmake
+++ b/cmake-build-debug/CMakeFiles/Makefile.cmake
@@ -7,98 +7,22 @@ set(CMAKE_DEPENDS_GENERATOR "MinGW Makefiles")
# The top level Makefile was generated from the following files:
set(CMAKE_MAKEFILE_DEPENDS
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D:/zhandui/cqdm/bubing_9/modules/remote/remote_control.c
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diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.make b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.make
index 4c314dd..d6cf70b 100644
--- a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.make
+++ b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.make
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D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h \
- D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
+ D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h \
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D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.h \
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D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.h \
D:/zhandui/cqdm/bubing_9/application/shoot/shoot.h \
- D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.h
+ D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.h \
+ D:/zhandui/cqdm/bubing_9/modules/remote/remote_control.h
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@@ -9032,6 +9159,8 @@ D:/zhandui/cqdm/bubing_9/modules/imu/ins_task.c:
D:/zhandui/cqdm/bubing_9/modules/auto_aim/auto_aim.h:
+D:/zhandui/cqdm/bubing_9/modules/referee/vision_transfer.h:
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D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c:
D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.h:
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D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.c:
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diff --git a/cmake-build-debug/basic_framework.map b/cmake-build-debug/basic_framework.map
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+ .debug_frame 0x00009b8c 0xf4 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-vfiprintf.o)
+ .debug_frame 0x00009c80 0x3c 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-wctomb_r.o)
+ .debug_frame 0x00009cbc 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-wsetup.o)
+ .debug_frame 0x00009ce8 0x28 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-abort.o)
+ .debug_frame 0x00009d10 0x70 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-fflush.o)
+ .debug_frame 0x00009d80 0x154 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-findfp.o)
+ .debug_frame 0x00009ed4 0x8c 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-fputwc.o)
+ .debug_frame 0x00009f60 0x64 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-fvwrite.o)
+ .debug_frame 0x00009fc4 0x54 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-fwalk.o)
+ .debug_frame 0x0000a018 0x70 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-makebuf.o)
+ .debug_frame 0x0000a088 0x114 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-signal.o)
+ .debug_frame 0x0000a19c 0x3c 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-signalr.o)
+ .debug_frame 0x0000a1d8 0x8c 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-stdio.o)
+ .debug_frame 0x0000a264 0x4c 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-wbuf.o)
+ .debug_frame 0x0000a2b0 0x60 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-wcrtomb.o)
+ .debug_frame 0x0000a310 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-writer.o)
+ .debug_frame 0x0000a33c 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-closer.o)
+ .debug_frame 0x0000a368 0x3c 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-fclose.o)
+ .debug_frame 0x0000a3a4 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-fstatr.o)
+ .debug_frame 0x0000a3d0 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-isattyr.o)
+ .debug_frame 0x0000a3fc 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-lseekr.o)
+ .debug_frame 0x0000a428 0x2c d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-readr.o)
+ .debug_frame 0x0000a454 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/master_machine/master_process.c b/modules/master_machine/master_process.c
index 01f9c57..d7b22e9 100644
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@@ -147,9 +147,9 @@ static void DecodeVision(uint16_t recv_len)
}
/* 视觉通信初始化 */
-RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle)
+RecievePacket_t *VisionInit(void)
{
- UNUSED(_handle); // 仅为了消除警告
+// UNUSED(_handle); // 仅为了消除警告
USB_Init_Config_s conf = {.rx_cbk = DecodeVision};
vis_recv_buff = USBInit(conf);
diff --git a/modules/master_machine/master_process.h b/modules/master_machine/master_process.h
index 405912a..1e3c45b 100644
--- a/modules/master_machine/master_process.h
+++ b/modules/master_machine/master_process.h
@@ -113,7 +113,7 @@ typedef __packed struct {
* @param handle 用于和视觉通信的串口handle(C板上一般为USART1,丝印为USART2,4pin)
*/
//Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
-RecievePacket_t *VisionInit(UART_HandleTypeDef *_handle);
+RecievePacket_t *VisionInit(void);
/**
* @brief 发送视觉数据
diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c
index b2027cc..d9e877b 100644
--- a/modules/motor/DJImotor/dji_motor.c
+++ b/modules/motor/DJImotor/dji_motor.c
@@ -286,7 +286,13 @@ void DJIMotorControl() {
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
else
- pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
+ {
+ if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+ pid_measure = -measure->total_angle;
+ else
+ pid_measure = measure->total_angle; // MOTOR_FEED,对total angle闭环,防止在边界处出现突跃
+ }
+
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->angle_PID, pid_measure, pid_ref);
}
@@ -300,7 +306,13 @@ void DJIMotorControl() {
if (motor_setting->speed_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_speed_feedback_ptr;
else // MOTOR_FEED
- pid_measure = measure->speed_aps;
+ {
+ if(motor_setting->feedback_reverse_flag == FEEDBACK_DIRECTION_REVERSE)
+ pid_measure = -measure->speed_aps;
+ else
+ pid_measure = measure->speed_aps;
+ }
+
// 更新pid_ref进入下一个环
pid_ref = PIDCalculate(&motor_controller->speed_PID, pid_measure, pid_ref);
}
diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h
index 669a712..aa8e15a 100644
--- a/modules/referee/referee_protocol.h
+++ b/modules/referee/referee_protocol.h
@@ -65,7 +65,7 @@ typedef struct
/****************************cmd_id命令码说明****************************/
/****************************cmd_id命令码说明****************************/
-
+// V1.6.1 裁判系统串口协议
/* 命令码ID,用来判断接收的是什么数据 */
typedef enum
{
@@ -83,24 +83,28 @@ typedef enum
ID_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据
ID_student_interactive = 0x0301, // 机器人间交互数据
+ ID_custom_robot = 0x302, // 自定义控制器数据(图传链路)
+ ID_remote_control = 0x304, // 键鼠遥控数据(图传链路)
} CmdID_e;
/* 命令码数据段长,根据官方协议来定义长度,还有自定义数据长度 */
typedef enum
{
- LEN_game_state = 3, // 0x0001
+ LEN_game_state = 11, // 0x0001
LEN_game_result = 1, // 0x0002
- LEN_game_robot_HP = 2, // 0x0003
+ LEN_game_robot_HP = 32, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
- LEN_game_robot_state = 27, // 0x0201
- LEN_power_heat_data = 14, // 0x0202
+ LEN_game_robot_state = 13, // 0x0201
+ LEN_power_heat_data = 16, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
- LEN_buff_musk = 1, // 0x0204
- LEN_aerial_robot_energy = 1, // 0x0205
+ LEN_buff_musk = 6, // 0x0204
+ LEN_aerial_robot_energy = 2, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
+ LEN__custom_robot = 30, // 0x0302
+ LEN_remote_control = 12, // 0x0304
} JudgeDataLength_e;
@@ -124,23 +128,23 @@ typedef struct
/* ID: 0x0003 Byte: 32 比赛机器人血量数据 */
typedef struct
{
- uint16_t red_1_robot_HP;
- uint16_t red_2_robot_HP;
- uint16_t red_3_robot_HP;
- uint16_t red_4_robot_HP;
- uint16_t red_5_robot_HP;
- uint16_t red_7_robot_HP;
- uint16_t red_outpost_HP;
- uint16_t red_base_HP;
- uint16_t blue_1_robot_HP;
- uint16_t blue_2_robot_HP;
- uint16_t blue_3_robot_HP;
- uint16_t blue_4_robot_HP;
- uint16_t blue_5_robot_HP;
- uint16_t blue_7_robot_HP;
- uint16_t blue_outpost_HP;
- uint16_t blue_base_HP;
-} ext_game_robot_HP_t;
+ uint16_t red_1_robot_HP;
+ uint16_t red_2_robot_HP;
+ uint16_t red_3_robot_HP;
+ uint16_t red_4_robot_HP;
+ uint16_t red_5_robot_HP;
+ uint16_t red_7_robot_HP;
+ uint16_t red_outpost_HP;
+ uint16_t red_base_HP;
+ uint16_t blue_1_robot_HP;
+ uint16_t blue_2_robot_HP;
+ uint16_t blue_3_robot_HP;
+ uint16_t blue_4_robot_HP;
+ uint16_t blue_5_robot_HP;
+ uint16_t blue_7_robot_HP;
+ uint16_t blue_outpost_HP;
+ uint16_t blue_base_HP;
+}ext_game_robot_HP_t;
/* ID: 0x0101 Byte: 4 场地事件数据 */
typedef struct
@@ -148,7 +152,7 @@ typedef struct
uint32_t event_type;
} ext_event_data_t;
-/* ID: 0x0102 Byte: 3 场地补给站动作标识数据 */
+/* ID: 0x0102 Byte: 4 场地补给站动作标识数据 */
typedef struct
{
uint8_t supply_projectile_id;
@@ -157,7 +161,7 @@ typedef struct
uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;
-/* ID: 0X0201 Byte: 13 V1.6.1 机器人性能体系数据 */
+/* ID: 0X0201 Byte: 13 机器人性能体系数据 */
typedef struct
{
uint8_t robot_id;
@@ -173,7 +177,7 @@ typedef struct
uint8_t power_management_shooter_output : 1;
} ext_game_robot_state_t;
-/* ID: 0X0202 Byte: 14 v1.6.1 实时功率热量数据 */
+/* ID: 0X0202 Byte: 16 实时功率热量数据 */
typedef struct
{
uint16_t chassis_voltage;
@@ -194,16 +198,22 @@ typedef struct
float yaw;
} ext_game_robot_pos_t;
-/* ID: 0x0204 Byte: 1 机器人增益数据 */
+/* ID: 0x0204 Byte: 6 机器人增益数据 */
typedef struct
{
- uint8_t power_rune_buff;
+ uint8_t recovery_buff;
+ uint8_t cooling_buff;
+ uint8_t defence_buff;
+ uint8_t vulnerability_buff;
+ uint16_t attack_buff;
+ uint8_t power_rune_buff;
} ext_buff_musk_t;
-/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */
+/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */
typedef struct
{
- uint8_t attack_time;
+ uint8_t airforce_status;
+ uint8_t time_remain;
} aerial_robot_energy_t;
/* ID: 0x0206 Byte: 1 伤害状态数据 */
@@ -222,6 +232,20 @@ typedef struct
float bullet_speed;
} ext_shoot_data_t;
+/****************************图传链路数据****************************/
+/* ID: 0x0304 Byte: 12 图传链路键鼠遥控数据 */
+typedef struct
+{
+ int16_t mouse_x;
+ int16_t mouse_y;
+ int16_t mouse_z;
+ int8_t left_button_down;
+ int8_t right_button_down;
+ uint16_t keyboard_value;
+ uint16_t reserved;
+}vision_transfer_t;
+/****************************图传链路数据****************************/
+
/****************************机器人交互数据****************************/
/****************************机器人交互数据****************************/
/* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超,数据段最多30个,也不会超*/
diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c
index 1350d82..a9e1ccf 100644
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -82,7 +82,7 @@ void MyUIInit()
UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,10);
UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]);
- // 绘制车辆状态标志指示
+ // 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:");
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:");
@@ -93,6 +93,11 @@ void MyUIInit()
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:");
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]);
+ // 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
@@ -106,84 +111,25 @@ void MyUIInit()
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 ");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
-
- // 底盘功率显示,静态
- UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:");
- UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
+ 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);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
// 底盘功率显示,动态
- UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000);
+ UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]);
// 能量条初始状态
- UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
+ //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
//超级电容电压
- UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,cap->cap_msg.cap_vol);
+ UILineDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,30,720,160,(uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416),160);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]);
}
-// 测试用函数,实现模式自动变化,用于检查该任务和裁判系统是否连接正常
-static uint8_t count = 0;
-static uint16_t count1 = 0;
-static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数,实现模式自动变化
-{
- count++;
- if (count >= 50)
- {
- count = 0;
- count1++;
- }
- switch (count1 % 4)
- {
- case 0:
- {
- _Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
- _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
- _Interactive_data->shoot_mode = SHOOT_ON;
- _Interactive_data->friction_mode = FRICTION_ON;
- _Interactive_data->lid_mode = LID_OPEN;
- _Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5;
- if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18)
- _Interactive_data->Chassis_Power_Data.chassis_power_mx = 0;
- break;
- }
- case 1:
- {
- _Interactive_data->chassis_mode = CHASSIS_ROTATE;
- _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
- _Interactive_data->shoot_mode = SHOOT_OFF;
- _Interactive_data->friction_mode = FRICTION_OFF;
- _Interactive_data->lid_mode = LID_CLOSE;
- break;
- }
- case 2:
- {
- _Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
- _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
- _Interactive_data->shoot_mode = SHOOT_ON;
- _Interactive_data->friction_mode = FRICTION_ON;
- _Interactive_data->lid_mode = LID_OPEN;
- break;
- }
- case 3:
- {
- _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
- _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
- _Interactive_data->shoot_mode = SHOOT_OFF;
- _Interactive_data->friction_mode = FRICTION_OFF;
- _Interactive_data->lid_mode = LID_CLOSE;
- break;
- }
- default:
- break;
- }
-}
-
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
UIChangeCheck(_Interactive_data);
@@ -254,13 +200,43 @@ 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;
}
+ // 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;
+ }
// power
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
{
- UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
- UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + cap->cap_msg.cap_vol * 30, 160);
- UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
- _Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
+ UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
+ UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1]);
+ _Interactive_data->Referee_Interactive_Flag.cap_flag = 0;
+ }
+ // cap
+ if (_Interactive_data->Referee_Interactive_Flag.cap_flag == 1)
+ {
+ UILineDraw(&UI_Energy[3], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416), 160);
+ UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[3]);
+ _Interactive_data->Referee_Interactive_Flag.cap_flag = 0;
}
//绘制开火建议
if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) {
@@ -325,4 +301,10 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->Referee_Interactive_Flag.aim_flag = 1;
_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;
+ }
}
diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h
index 9660663..991ed17 100644
--- a/modules/referee/rm_referee.h
+++ b/modules/referee/rm_referee.h
@@ -58,6 +58,7 @@ typedef struct
uint32_t Power_flag : 1;
uint32_t aim_flag : 1;
uint32_t cap_flag : 1;
+ uint32_t load_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -67,11 +68,12 @@ typedef struct
// 为UI绘制以及交互数据所用
chassis_mode_e chassis_mode; // 底盘模式
gimbal_mode_e gimbal_mode; // 云台模式
- shoot_mode_e shoot_mode; // 发射模式设置
+ shoot_mode_e shoot_mode; // 发射开关设置
friction_mode_e friction_mode; // 摩擦轮关闭
lid_mode_e lid_mode; // 弹舱盖打开
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
uint8_t aim_fire; // 开火建议
+ loader_mode_e loader_mode; // 发射模式
// 上一次的模式,用于flag判断
@@ -82,6 +84,7 @@ typedef struct
lid_mode_e lid_last_mode;
Chassis_Power_Data_s Chassis_last_Power_Data;
uint8_t aim_last_fire;
+ loader_mode_e loader_last_mode;
} Referee_Interactive_info_t;
diff --git a/modules/referee/vision_transfer.c b/modules/referee/vision_transfer.c
new file mode 100644
index 0000000..fa383f2
--- /dev/null
+++ b/modules/referee/vision_transfer.c
@@ -0,0 +1,162 @@
+/**
+ * @file rm_referee.C
+ * @author kidneygood (you@domain.com)
+ * @brief
+ * @version 0.1
+ * @date 2022-11-18
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+
+#include "vision_transfer.h"
+#include "string.h"
+#include "crc_ref.h"
+#include "bsp_usart.h"
+#include "task.h"
+#include "daemon.h"
+#include "bsp_log.h"
+#include "cmsis_os.h"
+#include "remote_control.h"
+
+#define RE_RX_BUFFER_SIZE 128u // 裁判系统接收缓冲区大小
+
+static USARTInstance *vt_usart_instance; // 裁判系统串口实例
+static DaemonInstance *vision_transfer_daemon; // 裁判系统守护进程
+static referee_info_vt_t referee_info_vt; // 裁判系统数据
+static VT_ctrl_t vt_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
+/**
+ * @brief 读取裁判数据,中断中读取保证速度
+ * @param buff: 读取到的裁判系统原始数据
+ * @retval 是否对正误判断做处理
+ * @attention 在此判断帧头和CRC校验,无误再写入数据,不重复判断帧头
+ */
+static void JudgeReadVTData(uint8_t *buff)
+{
+ uint16_t judge_length; // 统计一帧数据长度
+ if (buff == NULL) // 空数据包,则不作任何处理
+ return;
+
+ // 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
+ memcpy(&referee_info_vt.FrameHeader, buff, LEN_HEADER);
+
+ // 判断帧头数据(0)是否为0xA5
+ if (buff[SOF] == REFEREE_SOF)
+ {
+ // 帧头CRC8校验
+ if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
+ {
+ // 统计一帧数据长度(byte),用于CR16校验
+ judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
+ // 帧尾CRC16校验
+ if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
+ {
+ // 2个8位拼成16位int
+ referee_info_vt.CmdID = (buff[6] << 8 | buff[5]);
+ // 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
+ // 第8个字节开始才是数据 data=7
+ switch (referee_info_vt.CmdID)
+ {
+ case ID_custom_robot: //0x0302
+ memcpy(&referee_info_vt.ReceiveData, (buff + DATA_Offset), LEN__custom_robot);
+ break;
+ case ID_remote_control: //0x0304
+ memcpy(&referee_info_vt.VisionTransfer, (buff + DATA_Offset), LEN_remote_control);
+ break;
+ }
+ }
+ }
+ // 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
+ if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
+ { // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
+ JudgeReadVTData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL);
+ }
+ }
+}
+static void vt_to_rc(void)
+{
+ // 鼠标解析
+ vt_ctrl[TEMP].mouse.x = referee_info_vt.VisionTransfer.mouse_x; //!< Mouse X axis
+ vt_ctrl[TEMP].mouse.y = referee_info_vt.VisionTransfer.mouse_y; //!< Mouse Y axis
+ vt_ctrl[TEMP].mouse.press_l = referee_info_vt.VisionTransfer.left_button_down; //!< Mouse Left Is Press ?
+ vt_ctrl[TEMP].mouse.press_r = referee_info_vt.VisionTransfer.right_button_down; //!< Mouse Right Is Press ?
+
+// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
+ *(uint16_t *)&vt_ctrl[TEMP].key[KEY_PRESS] = referee_info_vt.VisionTransfer.keyboard_value;
+
+ if (vt_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
+ vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_ctrl[TEMP].key[KEY_PRESS];
+ else
+ memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
+ if (vt_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
+ vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_ctrl[TEMP].key[KEY_PRESS];
+ else
+ memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
+
+ uint16_t key_now = vt_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
+ key_last = vt_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
+ key_with_ctrl = vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
+ key_with_shift = vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下
+ key_last_with_ctrl = vt_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
+ key_last_with_shift = vt_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
+
+ for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
+ {
+ if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
+ continue;
+// 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
+ if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
+ vt_ctrl[TEMP].key_count[KEY_PRESS][i]++;
+// 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
+ if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
+ vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
+// 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
+ if ((key_with_shift & j) && !(key_last_with_shift & j))
+ vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
+ }
+
+ memcpy(&vt_ctrl[LAST], &vt_ctrl[TEMP], sizeof(VT_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
+}
+
+/*裁判系统串口接收回调函数,解析数据 */
+static void VTRefereeRxCallback()
+{
+ DaemonReload(vision_transfer_daemon);
+ JudgeReadVTData(vt_usart_instance->recv_buff);
+ vt_to_rc();
+}
+// 裁判系统丢失回调函数,重新初始化裁判系统串口
+static void VTRefereeLostCallback(void *arg)
+{
+ USARTServiceInit(vt_usart_instance);
+ LOGWARNING("[rm_ref] lost referee vision data ");
+}
+
+/* 裁判系统通信初始化 */
+VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *vt_usart_handle)
+{
+ USART_Init_Config_s conf;
+ conf.module_callback = VTRefereeRxCallback;
+ conf.usart_handle = vt_usart_handle;
+ conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8)
+ vt_usart_instance = USARTRegister(&conf);
+
+ Daemon_Init_Config_s daemon_conf = {
+ .callback = VTRefereeLostCallback,
+ .owner_id = vt_usart_instance,
+ .reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收
+ };
+ vision_transfer_daemon = DaemonRegister(&daemon_conf);
+
+ return &vt_ctrl;
+}
+
+/**
+ * @brief 裁判系统数据发送函数
+ * @param
+ */
+void VTRefereeSend(uint8_t *send, uint16_t tx_len)
+{
+ USARTSend(vt_usart_instance, send, tx_len, USART_TRANSFER_DMA);
+ osDelay(115);
+}
diff --git a/modules/referee/vision_transfer.h b/modules/referee/vision_transfer.h
new file mode 100644
index 0000000..4989f46
--- /dev/null
+++ b/modules/referee/vision_transfer.h
@@ -0,0 +1,46 @@
+#ifndef VISION_TRANSFER_H
+#define VISION_TRANSFER_H
+
+#include "usart.h"
+#include "referee_protocol.h"
+#include "robot_def.h"
+#include "bsp_usart.h"
+#include "FreeRTOS.h"
+#include "remote_control.h"
+
+#pragma pack(1)
+
+// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
+typedef struct
+{
+
+ xFrameHeader FrameHeader; // 接收到的帧头信息
+ uint16_t CmdID;
+
+ vision_transfer_t VisionTransfer;
+ Communicate_ReceiveData_t ReceiveData;
+
+ uint8_t init_flag;
+
+} referee_info_vt_t;
+
+#pragma pack()
+
+/**
+ * @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
+ *
+ * @param vt_usart_handle 串口handle,C板一般用串口6
+ * @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
+ */
+VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *referee_usart_handle);
+
+/**
+ * @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
+ * @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
+ *
+ * @param send 发送数据首地址
+ * @param tx_len 发送长度
+ */
+void VTRefereeSend(uint8_t *send, uint16_t tx_len);
+
+#endif // !REFEREE_H
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index 4035304..b03d19e 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -16,6 +16,10 @@ static uint8_t rc_init_flag = 0; // 遥控器初始化标志位
static USARTInstance *rc_usart_instance;
static DaemonInstance *rc_daemon_instance;
+// 图传拥有的串口实例
+static USARTInstance *vt_usart_instance;
+static DaemonInstance *vt_daemon_instance;
+
/**
* @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
*
@@ -97,6 +101,12 @@ static void RemoteControlRxCallback()
sbus_to_rc(rc_usart_instance->recv_buff); // 进行协议解析
}
+//static void RemoteControlvtCallback()
+//{
+// DaemonReload(vt_daemon_instance); // 先喂狗
+// sbus_to_rc(vt_usart_instance->recv_buff); // 进行协议解析
+//}
+
/**
* @brief 遥控器离线的回调函数,注册到守护进程中,串口掉线时调用
*
diff --git a/modules/remote/remote_control.h b/modules/remote/remote_control.h
index c12f810..de51173 100644
--- a/modules/remote/remote_control.h
+++ b/modules/remote/remote_control.h
@@ -113,6 +113,20 @@ typedef struct
uint8_t key_count[3][16];
} RC_ctrl_t;
+typedef struct
+{
+ struct
+ {
+ int16_t x;
+ int16_t y;
+ uint8_t press_l;
+ uint8_t press_r;
+ } mouse;
+
+ Key_t key[3];
+ uint8_t key_count[3][16];
+}VT_ctrl_t; //图传链路下发的遥控数据
+
/* ------------------------- Internal Data ----------------------------------- */
/**
@@ -123,6 +137,8 @@ typedef struct
*/
RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle);
+//VT_ctrl_t *RemoteControlInit(UART_HandleTypeDef *vt_usart_handle);
+
/**
* @brief 检查遥控器是否在线,若尚未初始化也视为离线
*
diff --git a/xiaoshi.jdebug.user b/xiaoshi.jdebug.user
deleted file mode 100644
index 669ec91..0000000
--- a/xiaoshi.jdebug.user
+++ /dev/null
@@ -1,31 +0,0 @@
-
-GraphedExpression="(((pitch_motor)->motor_controller).speed_PID).Ref", Color=#a00909
-GraphedExpression="(((pitch_motor)->motor_controller).speed_PID).Measure", Color=#09a01b
-OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=64
-OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3623
-OpenDocument="controller.h", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.h", Line=48
-OpenDocument="robot_def.h", FilePath="D:/zhandui/cqdm/basic_framework/application/robot_def.h", Line=9
-OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=0
-OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/basic_framework/application/gimbal/gimbal.c", Line=141
-OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/basic_framework/Startup/startup_stm32f407ighx.s", Line=46
-OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=492, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=2, y=0, w=831, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D700
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=600, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=615, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1153, h=1093, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=0, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;833", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="926;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="942;0"
-OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1112, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-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";" (((pitch_motor)->motor_controller).speed_PID).Ref";" (((pitch_motor)->motor_controller).speed_PID).Measure"], ColWidths=[100;100;100;289]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;154;124;114;164;110;126;126]
-TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
-TableHeader="Task List", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info (Free / Size)";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;100;104;183]
-TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
-TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[26;26;26;26]
-WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="YAW_CHASSIS_ALIGN_ECD", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="gravity_current", Window=Watched Data 1
-WatchedExpression="motor_rf", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file
diff --git a/xs.jdebug b/xs.jdebug
index 3f84cd6..4af9a7d 100644
--- a/xs.jdebug
+++ b/xs.jdebug
@@ -33,7 +33,7 @@ void OnProjectLoad (void) {
//
// User settings
//
- Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ);
+ Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ);
Project.SetOSPlugin ("FreeRTOSPlugin_CM4");
File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf");
}
diff --git a/xs.jdebug.user b/xs.jdebug.user
index ee85923..6419ff9 100644
--- a/xs.jdebug.user
+++ b/xs.jdebug.user
@@ -1,38 +1,42 @@
-
-Breakpoint=D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c:183:5, State=BP_STATE_DISABLED
+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="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="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
-OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=81
-OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=63
-OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=64
OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=556, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=935, h=205, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=800, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=556, h=800, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=650, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=979, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=935, h=887, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="601;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="608;0"
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=128, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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="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
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
+TableHeader="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="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
-TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;100;104;114]
+TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;218]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26]
WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1
WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1
WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="motor_lf", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="motor_lb", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="motor_rb", RefreshRate=2, Window=Watched Data 1
WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="referee_recv_info", Window=Watched Data 1
-WatchedExpression="chassis_power_limit", Window=Watched Data 1
WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vx_filter", RefreshRate=2, Window=Watched Data 1
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
\ No newline at end of file
+WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file