第一次调试

application/cmd/robot_cmd.c

@@ -183,16 +183,13 @@ static void auto_aim_mode() {
  */
 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
+    if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],
     {
-        chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
         gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
 
-    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
+    } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],
     {
-        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;
@@ -224,21 +221,18 @@ static void RemoteControlSet() {
     }
     // 云台软件限位
 
-    // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
-    chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
-    chassis_cmd_send.vy = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
-
-    // 发射参数
-    if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
-        ;                                            // 弹舱舵机控制,待添加servo_motor模块,开启
-    else; // 弹舱舵机控制,待添加servo_motor模块,关闭
 
 
     // 摩擦轮控制,拨轮向上打为负,向下为正
     if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
+    {
+        shoot_cmd_send.shoot_mode = SHOOT_ON;
         shoot_cmd_send.friction_mode = FRICTION_ON;
-    else
+    }
+    else{
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
         shoot_cmd_send.friction_mode = FRICTION_OFF;
+    }
 
     // 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)//
@@ -493,8 +487,8 @@ static void EmergencyHandler() {
         robot_state = ROBOT_READY;
         gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
         chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
-        shoot_cmd_send.shoot_mode = SHOOT_ON;
+        shoot_cmd_send.shoot_mode = SHOOT_OFF;
-        shoot_cmd_send.friction_mode = FRICTION_ON;
+        shoot_cmd_send.friction_mode = FRICTION_OFF;
         shoot_cmd_send.loader_mode = LOAD_STOP;
         LOGERROR("[CMD] emergency stop!");
     }
@@ -538,21 +532,17 @@ void RobotCMDTask() {
     // 设置视觉发送数据,还需增加加速度和角速度数据
     VisionSetFlag(!referee_data->referee_id.Robot_Color);
 
-    //根据裁判系统反馈确定底盘功率上限
-    chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
-    //根据裁判系统反馈确定缓冲功率
-    chassis_cmd_send.buffer_energy = referee_data->PowerHeatData.buffer_energy;
     //根据裁判系统反馈确定枪管热量控制
     shoot_cmd_send.heat = referee_data->PowerHeatData.shooter_17mm_1_barrel_heat;
     shoot_cmd_send.heat_limit = referee_data->GameRobotState.shooter_barrel_heat_limit;
     shoot_cmd_send.heat_cool = referee_data->GameRobotState.shooter_barrel_cooling_value;
 
-    if (referee_data->GameRobotState.power_management_chassis_output == 0) {
+//    if (referee_data->GameRobotState.power_management_chassis_output == 0) {
-        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
+//        chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
-    }
+//    }
-    if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
+//    if (referee_data->GameRobotState.power_management_gimbal_output == 0) {
-        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
+//        gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
-    }
+//    }
 //    if (referee_data->GameRobotState.power_management_shooter_output == 0) {
 //        shoot_cmd_send.shoot_mode = SHOOT_ON;
 //    }

application/gimbal/gimbal.c

@@ -9,7 +9,8 @@
 #include "vofa.h"
 
 static attitude_t *gimba_IMU_data; // 云台IMU数据
-static DJIMotorInstance *yaw_motor, *pitch_motor;
+static DJIMotorInstance *yaw_motor;
+static DMMotorInstance *pitch_motor;
 
 static Publisher_t *gimbal_pub;                   // 云台应用消息发布者(云台反馈给cmd)
 static Subscriber_t *gimbal_sub;                  // cmd控制消息订阅者
@@ -28,18 +29,18 @@ void GimbalInit() {
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                            .Kp = 0.8f,//1.2
+                            .Kp = 0.0f,//1.2
                             .Ki = 0.0f,//0
-                            .Kd = 0.04f,//0.05
+                            .Kd = 0.0f,//0.05
                             .DeadBand = 0.0f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                            .Kp = 5000,  //4000
+                            .Kp = 0,  //4000
-                            .Ki = 100.0f, //100
+                            .Ki = 0.0f, //100
-                            .Kd = 0.03f, //0
+                            .Kd = 0.0f, //0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 10000,
                             .MaxOut = 15000,
@@ -61,22 +62,22 @@ void GimbalInit() {
     // PITCH
     Motor_Init_Config_s pitch_config = {
             .can_init_config = {
-                    .can_handle = &hcan2,
+                    .can_handle = &hcan1,
-                    .tx_id = 1,
+                    .tx_id = 0x04,
-                    .rx_id = 3,
+                    .rx_id = 0x02,
             },
             .controller_param_init_config = {
                     .angle_PID = {
-                            .Kp = 1.0f,
+                            .Kp = 0.0f,
                             .Ki = 0.0f,
-                            .Kd = 0.02f,
+                            .Kd = 0.0f,
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 100,
                             .MaxOut = 500,
                     },
                     .speed_PID = {
-                            .Kp = 6000.0f,
+                            .Kp = 0.0f,
-                            .Ki = 900.0f,
+                            .Ki = 0.0f,
                             .Kd = 0.0f,   // 0
                             .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                             .IntegralLimit = 10000,
@@ -101,7 +102,7 @@ void GimbalInit() {
     };
     // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
     yaw_motor = DJIMotorInit(&yaw_config);
-    pitch_motor = DJIMotorInit(&pitch_config);
+    pitch_motor = DMMotorInit(&pitch_config);
 
     gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
     gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
@@ -121,30 +122,26 @@ void GimbalTask() {
         // 停止
         case GIMBAL_ZERO_FORCE:
             DJIMotorStop(yaw_motor);
-            DJIMotorStop(pitch_motor);
+            DMMotorStop(pitch_motor);
             break;
             // 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
         case GIMBAL_GYRO_MODE: // 后续只保留此模式
             DJIMotorEnable(yaw_motor);
-            DJIMotorEnable(pitch_motor);
+            DMMotorEnable(pitch_motor);
             DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
             DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
-            DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
             //LimitPitchAngleAuto();
             break;
             // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
         case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
             DJIMotorEnable(yaw_motor);
-            DJIMotorEnable(pitch_motor);
+            DMMotorEnable(pitch_motor);
             DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
             DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
-            DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
             DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
-            DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
+            DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
             break;
         default:
             break;

application/shoot/shoot.c

@@ -24,49 +24,49 @@ static float hibernate_time = 0,last_hibernate_time = 0, dead_time = 0;
 
 void ShootInit()
 {
-    // 左摩擦轮
+//    // 左摩擦轮
-    Motor_Init_Config_s friction_config = {
+//    Motor_Init_Config_s friction_config = {
-            .can_init_config = {
+//            .can_init_config = {
-                    .can_handle = &hcan2,
+//                    .can_handle = &hcan2,
-            },
+//            },
-            .controller_param_init_config = {
+//            .controller_param_init_config = {
-                    .speed_PID = {
+//                    .speed_PID = {
-                            .Kp = 1.5f,
+//                            .Kp = 1.5f,
-                            .Ki = 0.2f,
+//                            .Ki = 0.2f,
-                            .Kd = 0,
+//                            .Kd = 0,
-                            .Improve = PID_Integral_Limit,
+//                            .Improve = PID_Integral_Limit,
-                            .IntegralLimit = 10000,
+//                            .IntegralLimit = 10000,
-                            .MaxOut = 15000,
+//                            .MaxOut = 15000,
-                    },
+//                    },
-                    .current_PID = {
+//                    .current_PID = {
-                            .Kp = 0,
+//                            .Kp = 0,
-                            .Ki = 0,
+//                            .Ki = 0,
-                            .Kd = 0,
+//                            .Kd = 0,
-                            .Improve = PID_Integral_Limit,
+//                            .Improve = PID_Integral_Limit,
-                            .IntegralLimit = 10000,
+//                            .IntegralLimit = 10000,
-                            .MaxOut = 15000,
+//                            .MaxOut = 15000,
-                    },
+//                    },
-            },
+//            },
-            .controller_setting_init_config = {
+//            .controller_setting_init_config = {
-                    .angle_feedback_source = MOTOR_FEED,
+//                    .angle_feedback_source = MOTOR_FEED,
-                    .speed_feedback_source = MOTOR_FEED,
+//                    .speed_feedback_source = MOTOR_FEED,
-                    .outer_loop_type = SPEED_LOOP,
+//                    .outer_loop_type = SPEED_LOOP,
-                    .close_loop_type = SPEED_LOOP,
+//                    .close_loop_type = SPEED_LOOP,
-            },
+//            },
-            .motor_type = M3508};
+//            .motor_type = M3508};
-    friction_config.can_init_config.tx_id = 2,
+//    friction_config.can_init_config.tx_id = 2,
-            friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
+//            friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL;
-    friction_l = DJIMotorInit(&friction_config);
+//    friction_l = DJIMotorInit(&friction_config);
-
+//
-    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
+//    friction_config.can_init_config.tx_id = 3; // 右摩擦轮,改txid和方向就行
-    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
+//    friction_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
-    friction_r = DJIMotorInit(&friction_config);
+//    friction_r = DJIMotorInit(&friction_config);
 
     // 拨盘电机
     Motor_Init_Config_s loader_config = {
             .can_init_config = {
                     .can_handle = &hcan1,
-                    .tx_id = 2
+                    .tx_id = 3
             },
             .controller_param_init_config = {
                     .angle_PID = {
@@ -105,13 +105,11 @@ void ShootInit()
     };
     loader = DJIMotorInit(&loader_config);
 
-    shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
-    shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
-
     Pwmmotor_Init_Config_s friction_l1_config = {
             .htim = &htim8,
             .Channel = TIM_CHANNEL_1,
             .Pwmmotor_type = 0,
+            .Initial_value = 1000,
     };
     friction_l1 = PwmmotorInit(&friction_l1_config);
 
@@ -119,9 +117,12 @@ void ShootInit()
             .htim = &htim8,
             .Channel = TIM_CHANNEL_2,
             .Pwmmotor_type = 0,
+            .Initial_value = 1000,
     };
     friction_r1 = PwmmotorInit(&friction_r1_config);
 
+    shoot_pub = PubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
+    shoot_sub = SubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
 //    SPI_Init_Config_s rgb_config = {
 //           .spi_handle = ;
 //           .GPIOx = GPIOx;
@@ -164,7 +165,6 @@ void stalled_detect()
 /* 机器人发射机构控制核心任务 */
 void ShootTask()
 {
-    //WS2812_Number_4(0x000018,0x000018,0x000018,0x000018);
     //从cmd获取控制数据
     SubGetMessage(shoot_sub, &shoot_cmd_recv);
 
@@ -173,15 +173,19 @@ void ShootTask()
     {
         //DJIMotorSetRef(friction_l, 0);
         //DJIMotorSetRef(friction_r, 0);
+        Pwm_Motor_Stop(friction_l1, 1000);
+        Pwm_Motor_Stop(friction_r1, 1000);
         DJIMotorEnable(loader);
     }
     else // 恢复运行
     {
         //DJIMotorEnable(friction_l);
         //DJIMotorEnable(friction_r);
+        Pwm_MotorControl(friction_l1, 2000);
+        Pwm_MotorControl(friction_r1, 2000);
         DJIMotorEnable(loader);
     }
-    DJIMotorEnable(loader);
+
     // 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)
     if (hibernate_time + dead_time > DWT_GetTimeline_ms())
@@ -250,8 +254,8 @@ void ShootTask()
 //                DJIMotorSetRef(friction_r, 0);
 //                break;
         //default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
-        DJIMotorSetRef(friction_l, 39000);
+        //DJIMotorSetRef(friction_l, 39000);
-        DJIMotorSetRef(friction_r, 39000);
+        //DJIMotorSetRef(friction_r, 39000);
 
 //                break;
 //        }
@@ -260,8 +264,8 @@ void ShootTask()
     }
     else // 关闭摩擦轮
     {
-        DJIMotorSetRef(friction_l, 0);
+        //DJIMotorSetRef(friction_l, 0);
-        DJIMotorSetRef(friction_r, 0);
+        //DJIMotorSetRef(friction_r, 0);
 
         Pwm_Motor_Stop(friction_l1, 1000);
         Pwm_Motor_Stop(friction_r1, 1000);

modules/motor/pwmmotor/snail.c

@@ -6,7 +6,6 @@
 extern TIM_HandleTypeDef htim8;
 static PwmmotorInstance *pwm_motor_instance[PWM_MOTOR_CNT] = {NULL};
 static int16_t compare_value[PWM_MOTOR_CNT] = {0};
-int16_t k = 1800/350, b = 400;
 static uint8_t pwmmotor_idx = 0; // register pwmmotor_idx,是该文件的全局电机索引,在注册时使用
 
 // 通过此函数注册一个电机
@@ -19,8 +18,9 @@ PwmmotorInstance *PwmmotorInit(Pwmmotor_Init_Config_s *Pwmmotor_Init_Config)
     pwmmotor->htim = Pwmmotor_Init_Config->htim;
     pwmmotor->Channel = Pwmmotor_Init_Config->Channel;
 
+    HAL_TIM_Base_Start(Pwmmotor_Init_Config->htim);
     HAL_TIM_PWM_Start(Pwmmotor_Init_Config->htim, Pwmmotor_Init_Config->Channel);
-    __HAL_TIM_SET_COMPARE(pwmmotor->htim, pwmmotor->Channel, 1000);//只有有了油门值，Snail电机才能初始化完成，不会发出b b b b的叫声。如下设定初始油门值
+    __HAL_TIM_SET_COMPARE(Pwmmotor_Init_Config->htim, Pwmmotor_Init_Config->Channel, Pwmmotor_Init_Config->Initial_value);//只有有了油门值，Snail电机才能初始化完成，不会发出b b b b的叫声。如下设定初始油门值
     pwm_motor_instance[pwmmotor_idx++] = pwmmotor;
     return pwmmotor;
 }

modules/motor/pwmmotor/snail.h

@@ -47,6 +47,8 @@ typedef struct
      *TIM_CHANNEL_ALL
      */
     uint32_t Channel;
+    //油门初始值
+    int16_t Initial_value;
 
 } Pwmmotor_Init_Config_s;