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超电功率控制，云台pid，UI更新

This commit is contained in:
zyx 2024-05-13 05:33:38 +08:00
parent b7905068d7
commit b997416a29
16 changed files with 7049 additions and 7085 deletions
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39
application/chassis/chassis.c
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@ -52,8 +52,7 @@ const static float CHASSIS_ACCEL_Y_NUM=0.1f;
// 超级电容
SuperCapInstance *cap; // 超级电容全局
float power_set; // 超级电容功率设置
static uint16_t last_chassis_power_limit=0;//超级电容更新
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
/* 用于自旋变速策略的时间变量 */
@ -92,7 +91,7 @@ void ChassisInit() {
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP, // CURRENT_LOOP,
.power_limit_flag = POWER_LIMIT_ON,
.power_limit_flag = NO_POWER_LIMIT,
},
.motor_type = M3508,
};
@ -102,12 +101,12 @@ void ChassisInit() {
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
motor_rf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 2;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.1f;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
motor_lf = DJIMotorInit(&chassis_motor_config);
@ -116,14 +115,14 @@ void ChassisInit() {
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
motor_lb = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 4;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.1f;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
motor_rb = DJIMotorInit(&chassis_motor_config);
//超级电容
@ -134,8 +133,6 @@ void ChassisInit() {
.rx_id = 0x211,
}};
cap = SuperCapInit(&cap_conf); // 超级电容初始化
power_set = 70;
SuperCapSetPower(cap,power_set); // 超级电容限制功率
//用一阶滤波代替斜波函数生成 //增大更能刹住
first_order_filter_init(&vx_filter, 0.007f, &CHASSIS_ACCEL_X_NUM);
@ -217,9 +214,10 @@ static void LimitChassisOutput()
else if(chassis_cmd_recv.buffer_energy<10&&chassis_cmd_recv.buffer_energy>=0) Plimit=0.05f;
else if(chassis_cmd_recv.buffer_energy==60) Plimit=1.0f;
float K = ((float)(chassis_cmd_recv.chassis_power_limit - 3) * (Plimit + 0.50f) ) / P_cmd;
//float K = (float)(chassis_cmd_recv.chassis_power_limit - 5) / P_cmd;
float K = ((float)(chassis_cmd_recv.chassis_power_limit - 3) * (Plimit + 0.50f) + (float)(chassis_cmd_recv.buffer_supercap)) / P_cmd;
if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时，限制功率给小；
K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd;
motor_rf->motor_controller.motor_power_scale = K;
motor_rb->motor_controller.motor_power_scale = K;
motor_lf->motor_controller.motor_power_scale = K;
@ -233,7 +231,19 @@ static void LimitChassisOutput()
}
}
/**
* @brief 每次随等级更新超电的设定功率
*
*
*/
static void SuperCapSetUpdate()
{
if(last_chassis_power_limit != chassis_cmd_recv.chassis_power_limit)
{
SuperCapSetPower(cap,chassis_cmd_recv.chassis_power_limit); // 超级电容限制功率
last_chassis_power_limit = chassis_cmd_recv.chassis_power_limit;
}
}
/**
* @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
* 对于双板的情况,考虑增加来自底盘板IMU的数据
@ -326,7 +336,8 @@ void ChassisTask() {
//chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
chassis_feedback_data.cap_power = cap->cap_msg.cap_vol;
//每次随等级更新超电的设定功率
SuperCapSetUpdate();
// 推送反馈消息
#ifdef ONE_BOARD
PubPushMessage(chassis_pub, (void *) &chassis_feedback_data);

54
application/cmd/robot_cmd.c
View File

@ -62,7 +62,7 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Robot_Status_e robot_state; // 机器人整体工作状态
static referee_info_t *referee_data; // 用于获取裁判系统的数据
static uint8_t load_flag = 0; //拨弹模式选择标志位
static uint8_t loader_flag = 0; //拨弹模式选择标志位
void RobotCMDInit() {
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
@ -145,7 +145,7 @@ static void update_ui_data() {
}
static void auto_aim_mode() {
trajectory_cal.v0 = 25; //弹速30
trajectory_cal.v0 = 20; //弹速30
if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
aim_select.suggest_fire = 0;
@ -202,15 +202,14 @@ static void RemoteControlSet() {
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
shoot_cmd_send.lid_mode = LID_CLOSE;
}
else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上]
{
shoot_cmd_send.lid_mode = LID_OPEN;
}
// else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上],小陀螺
// {
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
// }
// 云台参数,确定云台控制数据
if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
@ -290,14 +289,17 @@ static void MouseKeySet() {
gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
gimbal_cmd_send.pitch += (float) rc_data[TEMP].mouse.y / 660 * 6;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
aim_select.suggest_fire = 0;
if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
{
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
shoot_cmd_send.shoot_mode = SHOOT_ON;
if(load_flag == 0){
if(loader_flag == 0){
shoot_cmd_send.loader_mode = LOAD_BURSTFIRE;
}else if(load_flag == 1){
}else if(loader_flag == 1){
shoot_cmd_send.loader_mode = LOAD_3_BULLET;
}else
shoot_cmd_send.loader_mode = LOAD_1_BULLET;
@ -305,7 +307,6 @@ static void MouseKeySet() {
} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r))
{
shoot_cmd_send.loader_mode = LOAD_STOP;
}
if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
{
@ -355,13 +356,13 @@ static void MouseKeySet() {
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关弹舱盖
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_OPEN;
shoot_cmd_send.lid_mode = LID_CLOSE;
break;
default:
shoot_cmd_send.lid_mode = LID_CLOSE;
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
@ -378,13 +379,13 @@ static void MouseKeySet() {
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
{
case 0:
load_flag = 0;
loader_flag = 0;
break;
case 1:
load_flag = 1;
loader_flag = 1;
break;
default:
load_flag = 3;
loader_flag = 3;
break;
}
switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
@ -417,6 +418,9 @@ static void VTMouseKeySet()
gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测
gimbal_cmd_send.pitch += (float) vt_data[TEMP].mouse.y / 660 * 6;
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
aim_select.suggest_fire = 0;
if (vt_data[TEMP].mouse.press_l && (!vt_data[TEMP].mouse.press_r)) // 左键发射模式
{
@ -477,13 +481,13 @@ static void VTMouseKeySet()
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关弹舱盖
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // Q键开关弹舱盖
{
case 0:
shoot_cmd_send.lid_mode = LID_OPEN;
shoot_cmd_send.lid_mode = LID_CLOSE;
break;
default:
shoot_cmd_send.lid_mode = LID_CLOSE;
shoot_cmd_send.lid_mode = LID_OPEN;
break;
}
switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
@ -500,22 +504,22 @@ static void VTMouseKeySet()
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
{
case 0:
load_flag = 0;
loader_flag = 0;
break;
case 1:
load_flag = 1;
loader_flag = 1;
break;
default:
load_flag = 3;
loader_flag = 3;
break;
}
switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
{
case 0:
SuperCapSetPower(cap,40);
chassis_cmd_send.buffer_supercap = 0;
break;
default:
SuperCapSetPower(cap,70);
chassis_cmd_send.buffer_supercap = 195;
break;
}

20
application/gimbal/gimbal.c
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@ -50,21 +50,21 @@ void GimbalInit() {
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 1.2f,//4
.Ki = 0.0f,
.Kd = 0.05f,
.Kp = 0.8f,//1.2
.Ki = 0.0f,//0
.Kd = 0.04f,//0.05
.DeadBand = 0.0f,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
},
.speed_PID = {
.Kp = 4000, // 2480
.Ki = 100.0f, // 200
.Kd = 0.0f,
.Kp = 5000, //4000
.Ki = 100.0f, //100
.Kd = 0.03f, //0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000,
.MaxOut = 20000,
.MaxOut = 15000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
@ -88,9 +88,9 @@ void GimbalInit() {
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.9f,
.Kp = 1.0f,
.Ki = 0.0f,
.Kd = 0.0f,
.Kd = 0.02f,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 500,
@ -101,7 +101,7 @@ void GimbalInit() {
.Kd = 0.0f, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000,
.MaxOut = 20000,
.MaxOut = 15000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Roll,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明

5
application/robot_def.h
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@ -29,8 +29,8 @@
#define YAW_CHASSIS_ALIGN_ECD 1443 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 4422 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 18 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE -30 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MAX_ANGLE 25 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE -24 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MAX_RELATIVE_ANGLE 123 // 云台相对底盘最大角度
#define PITCH_MIN_RELATIVE_ANGLE 80 // 云台相对底盘最小角度
@ -152,6 +152,7 @@ typedef struct
uint16_t chassis_power_limit;
uint16_t buffer_energy;
uint16_t buffer_supercap;
// UI部分
// ...

4
application/shoot/shoot.c
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@ -268,11 +268,11 @@ void ShootTask()
// 开关弹舱盖
if (shoot_cmd_recv.lid_mode == LID_CLOSE)
{
Servo_Motor_FreeAngle_Set(lid,95);
Servo_Motor_FreeAngle_Set(lid,107);
}
else if (shoot_cmd_recv.lid_mode == LID_OPEN)
{
Servo_Motor_FreeAngle_Set(lid,20);
Servo_Motor_FreeAngle_Set(lid,10);
}
//卡弹检测
stalled_detect();

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193
modules/referee/referee_task.c
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@ -22,6 +22,7 @@ static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器
static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
Referee_Interactive_info_t ui_data;
uint8_t UI_Seq; // 包序号，供整个referee文件使用
extern uint8_t loader_flag = 0; //拨弹模式选择标志位
// @todo 不应该使用全局变量
/**
@ -63,6 +64,7 @@ static Graph_Data_t UI_Energy[4]; // 电容能量条
static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change
static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
static String_Data_t UI_prompt_sta[3]; // 操作手提示
void MyUIInit()
{
@ -83,36 +85,43 @@ void MyUIInit()
UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]);
// 绘制车辆状态标志指示，静态
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "chassis:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "F.frict:");
// UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
// UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 700, "F.frict:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "Q.lid:");
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "Q.lid:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
// UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
// 操作手提示
UICharDraw(&UI_prompt_sta[0], "ss8", UI_Graph_ADD,8, UI_Color_Pink, 30, 4, 1650, 700, "leng jing");
UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[0]);
UICharDraw(&UI_prompt_sta[1], "ss9", UI_Graph_ADD, 8,UI_Color_Pink, 30, 4, 1650, 800, "zhi hui");
UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[1]);
// 底盘功率显示，静态
UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]);
// 绘制车辆状态标志，动态
// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
// UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 700, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 170, 650, "on ");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
// 能量条框
UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
@ -139,91 +148,91 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
switch (_Interactive_data->chassis_mode)
{
case CHASSIS_ZERO_FORCE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce");
break;
case CHASSIS_ROTATE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "rotate ");
// 此处注意字数对齐问题，字数相同才能覆盖掉
break;
case CHASSIS_NO_FOLLOW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "nofollow ");
break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "follow ");
break;
}
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
{
switch (_Interactive_data->gimbal_mode)
{
case GIMBAL_ZERO_FORCE:
{
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
break;
}
case GIMBAL_FREE_MODE:
{
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
break;
}
case GIMBAL_GYRO_MODE:
{
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
break;
}
}
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
}
// if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
// {
// switch (_Interactive_data->gimbal_mode)
// {
// case GIMBAL_ZERO_FORCE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
// break;
// }
// case GIMBAL_FREE_MODE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
// break;
// }
// case GIMBAL_GYRO_MODE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
// break;
// }
// }
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
// _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
// }
// shoot
if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
{
UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
}
// if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
// {
// UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
// _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
// }
// friction
if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
{
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 700, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
}
// lid
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
{
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 20, 2, 170, 650, _Interactive_data->lid_mode == LID_OPEN ? "on " : "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
// load_mode
if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1)
{
switch (_Interactive_data->loader_mode)
{
case LOAD_1_BULLET:
{
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 ");
break;
}
case LOAD_3_BULLET:
{
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 ");
break;
}
case LOAD_BURSTFIRE:
{
UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
break;
}
}
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
_Interactive_data->Referee_Interactive_Flag.load_flag = 0;
}
// loader_mode
// if (_Interactive_data->Referee_Interactive_Flag.load_flag == 1)
// {
// switch (loader_flag)
// {
// case 2:
// {
// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 1 ");
// break;
// }
// case 1:
// {
// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, " 3 ");
// break;
// }
// case 0:
// {
// UICharDraw(&UI_State_dyn[5], "sd5", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 800, "999");
// break;
// }
// }
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
// _Interactive_data->Referee_Interactive_Flag.load_flag = 0;
// }
// power
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
{
@ -260,17 +269,17 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
}
if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
}
// if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
// {
// _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
// _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
// }
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
}
// if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
// {
// _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
// _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
// }
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
{
@ -302,9 +311,9 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->aim_last_fire = _Interactive_data->aim_fire;
}
if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.load_flag = 1;
_Interactive_data->loader_last_mode = _Interactive_data->loader_mode;
}
// if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode)
// {
// _Interactive_data->Referee_Interactive_Flag.load_flag = 1;
// _Interactive_data->loader_last_mode = _Interactive_data->loader_mode;
// }
}

28
xs.jdebug.user
View File

@ -1,26 +1,24 @@
GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Measure", Color=#e56a6f
GraphedExpression="(((motor_lf)->motor_controller).speed_PID).Ref", Color=#35792b
OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387
OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0
OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51
OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418
OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65
OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387
OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87
OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191
OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=459, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=1150, h=319, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=552, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=479, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=621, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=473, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1294, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1150, h=717, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;502", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=238, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=531, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1456, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1197, h=1057, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;841", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=269, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((motor_lf)->motor_controller).speed_PID).Measure";" (((motor_lf)->motor_controller).speed_PID).Ref"], ColWidths=[100;100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;114;124;114;124;110;126;126]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;282]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;218]
@ -39,4 +37,6 @@ WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
WatchedExpression="shoot.c::shoot_cmd_recv", RefreshRate=2, Window=Watched Data 1
WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1
WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1