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infantry_gimbal
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超电功率控制，云台pid，UI更新，

This commit is contained in:
zyx 2024-05-15 03:27:39 +08:00
parent b997416a29
commit cafb53ef88
18 changed files with 6656 additions and 6643 deletions
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23
application/chassis/chassis.c
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@ -97,32 +97,33 @@ void ChassisInit() {
};
// @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改.
// 四个轮子pid分开
//右前
chassis_motor_config.can_init_config.tx_id = 1;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_rf = DJIMotorInit(&chassis_motor_config);
//左前
chassis_motor_config.can_init_config.tx_id = 2;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_lf = DJIMotorInit(&chassis_motor_config);
//左后
chassis_motor_config.can_init_config.tx_id = 3;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_lb = DJIMotorInit(&chassis_motor_config);
//右后
chassis_motor_config.can_init_config.tx_id = 4;
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f;
chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f;
chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f;
chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f;
motor_rb = DJIMotorInit(&chassis_motor_config);
//超级电容
@ -335,7 +336,7 @@ void ChassisTask() {
// 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.cap_power = cap->cap_msg.cap_vol;
chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol;
//每次随等级更新超电的设定功率
SuperCapSetUpdate();
// 推送反馈消息

13
application/cmd/robot_cmd.c
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@ -133,15 +133,15 @@ static void death_check()
static void update_ui_data() {
ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
//ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
ui_data.friction_mode = shoot_cmd_send.friction_mode;
ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
//ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
ui_data.lid_mode = shoot_cmd_send.lid_mode;
ui_data.aim_fire = aim_select.suggest_fire;
ui_data.loader_mode = shoot_cmd_send.loader_mode;
//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;
ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol;
}
static void auto_aim_mode() {
@ -226,7 +226,6 @@ static void RemoteControlSet() {
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
}
// 左侧开关状态为[下],视觉模式
if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
@ -391,10 +390,10 @@ static void MouseKeySet() {
switch (rc_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;
}

10
application/robot_def.h
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@ -130,10 +130,14 @@ typedef enum
// 功率限制,从裁判系统获取,是否有必要保留?
typedef struct
{
uint16_t chassis_power_mx; // 功率控制
float cap_power; // 超级电容功率控制
uint16_t chassis_power_mx; // 功率限制
} Chassis_Power_Data_s;
// 电容信息
typedef struct
{
int16_t cap_vol;
} Cap_Data_s;
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
/**
* @brief 对于双板情况,遥控器和pc在云台,裁判系统在底盘
@ -202,7 +206,7 @@ typedef struct
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;
float cap_power;
int16_t cap_vol;
} Chassis_Upload_Data_s;

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2
modules/auto_aim/auto_aim.c
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@ -273,7 +273,7 @@ void get_cmd_angle(Trajectory_Type_t *trajectory_cal) {
}
int auto_aim(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal, RecievePacket_t *receive_packet) {
trajectory_cal->extra_delay_time = 0.035;//0.025
trajectory_cal->extra_delay_time = 0.08;//0.025
aim_sel->target_state.armor_type = receive_packet->id;
aim_sel->target_state.armor_num = receive_packet->armors_num;

57
modules/referee/referee_task.c
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@ -60,7 +60,7 @@ void UITask()
static Graph_Data_t UI_shoot_line[10]; // 射击准线
static Graph_Data_t UI_shoot_yuan[2]; // 射击圆心
static Graph_Data_t UI_Energy[4]; // 电容能量条
static Graph_Data_t UI_Energy[6]; // 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};
@ -85,7 +85,7 @@ 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, 20, 2, 10, 750, "chassis:");
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "E.spin:");
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]);
@ -93,7 +93,7 @@ void MyUIInit()
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 700, "F.frict:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "Q.lid:");
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "B.lid:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
// UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
@ -110,7 +110,7 @@ void MyUIInit()
// 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, 20, 2, 170, 750, "zeroforce");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "off");
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]);
@ -128,15 +128,19 @@ void MyUIInit()
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
// 底盘功率显示,动态
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);
UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, Interactive_data->Chassis_Power_Data.chassis_power_mx * 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);
//超级电容电压
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);
// 电容电压
UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_ADD, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]);
// 电容能量条
UILineDraw(&UI_Energy[3], "sd8", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]);
// 发弹量条框
UILineDraw(&UI_Energy[4], "ss7", UI_Graph_ADD, 7, UI_Color_Pink, 2, 1325, 500, 1480, 500);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[4]);
}
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
@ -148,17 +152,17 @@ 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, 20, 2, 170, 750, "zeroforce");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
case CHASSIS_ROTATE:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "rotate ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on ");
// 此处注意字数对齐问题，字数相同才能覆盖掉
break;
case CHASSIS_NO_FOLLOW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "nofollow ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
case CHASSIS_FOLLOW_GIMBAL_YAW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "follow ");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off");
break;
}
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
@ -238,20 +242,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
{
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;
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
}
UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol);
UIGraphRefresh(&referee_recv_info->referee_id, 1,UI_Energy[2]);
UILineDraw(&UI_Energy[3], "sd8", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160);
UIGraphRefresh(&referee_recv_info->referee_id, 1, &UI_Energy[3]);
//绘制开火建议
if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) {
UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 10);
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
_Interactive_data->Referee_Interactive_Flag.aim_flag = 0;
}
}
@ -299,11 +300,11 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
}
if (_Interactive_data->Chassis_Power_Data.cap_power != _Interactive_data->Chassis_last_Power_Data.cap_power)
{
_Interactive_data->Referee_Interactive_Flag.cap_flag = 1;
_Interactive_data->Chassis_last_Power_Data.cap_power = _Interactive_data->Chassis_Power_Data.cap_power;
}
// if (_Interactive_data->Cap_Data.cap_vol != _Interactive_data->Cap_last_Data.cap_vol)
// {
// _Interactive_data->Referee_Interactive_Flag.cap_flag = 1;
// _Interactive_data->Cap_last_Data.cap_vol = _Interactive_data->Cap_Data.cap_vol;
// }
if (_Interactive_data->aim_fire != _Interactive_data->aim_last_fire)
{

5
modules/referee/rm_referee.h
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@ -73,8 +73,8 @@ typedef struct
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
loader_mode_e loader_mode; // 发射模式
Cap_Data_s Cap_Data; // 电容信息
// 上一次的模式，用于flag判断
chassis_mode_e chassis_last_mode;
@ -85,6 +85,7 @@ typedef struct
Chassis_Power_Data_s Chassis_last_Power_Data;
uint8_t aim_last_fire;
loader_mode_e loader_last_mode;
Cap_Data_s Cap_last_Data;
} Referee_Interactive_info_t;

27
xs.jdebug.user
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@ -1,24 +1,25 @@
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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=120
OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251
OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418
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="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
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OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1151, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1541, 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;861", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1314;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1330;0"
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=213, 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;282]
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="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 +40,6 @@ 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="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1