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云台跟随，连续发射

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chenfu
2024-05-20 22:22:24 +08:00
parent 4f80821435
commit 0c0d1201ea
12 changed files with 658 additions and 193 deletions
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222
application/cmd/robot_cmd.c
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@@ -9,18 +9,238 @@
#include "general_def.h"
#include "dji_motor.h"
#include "bmi088.h"
#include "user_lib.h"
#include "can_comm.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"
// 私有宏,自动将编码器转换成角度值
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
float yaw_align_angle = 0.0f, yaw_chassis_align_ecd = 2716;
static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
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
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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 Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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_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 Work_Mode_e vision_work_mode; // 视觉工作模式
static CANCommInstance *cmd_can_comm; // 底盘CAN通信实例
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
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
CANComm_Init_Config_s comm_conf = {
.can_config = {
.can_handle = &hcan1,
.tx_id = 0x312,
.rx_id = 0x311,
},
.recv_data_len = sizeof(Chassis_Upload_Data_s),
.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
};
cmd_can_comm = CANCommInit(&comm_conf);
gimbal_cmd_send.pitch = 0;
gimbal_cmd_send.yaw = 0;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
robot_state = ROBOT_STOP; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
}
/**
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
* 单圈绝对角度的范围是0~360,说明文档中有图示
*
*/
static void CalcOffsetAngle()
{
// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
static float angle;
yaw_align_angle = yaw_chassis_align_ecd * ECD_ANGLE_COEF_DJI; // 从底盘获取的yaw电机对齐角度
angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
if (yaw_chassis_align_ecd > 4096) // 如果大于180度
{
if (angle > yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else if (angle <= yaw_align_angle && angle >= yaw_align_angle - 180.0f)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else
chassis_cmd_send.offset_angle = angle - yaw_align_angle + 360.0f;
}
else
{ // 小于180度
if (angle > yaw_align_angle && angle <= 180.0f + yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else if (angle > 180.0f + yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle - 360.0f;
else
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
}
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
*/
static void RemoteControlSet()
{
shoot_cmd_send.bullet_speed = 30;
// // 云台参数,确定云台控制数据
// if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式
// {
// gimbal_cmd_send.yaw = ( vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw );
// gimbal_cmd_send.pitch =( vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch );
// }
// 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
chassis_cmd_send.vx = 0.0f;
if (abs(rc_data[TEMP].rc.rocker_r1) > 300)
{
chassis_cmd_send.vx = 0.003f * (float)rc_data[TEMP].rc.rocker_r1; // _水平方向
yaw_chassis_align_ecd = 2716;
}
else if (abs(rc_data[TEMP].rc.rocker_r_) > 300)
{
chassis_cmd_send.vx = 0.003f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
yaw_chassis_align_ecd = 765;
}
gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.0004f * (float)rc_data[TEMP].rc.rocker_l1;
// 摇杆控制的软件限位
gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, -35.0f, 30.0f);
// gimbal_cmd_send.yaw = float_constrain(gimbal_cmd_send.yaw, -180.0f, 180.0f);
// 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
// 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.friction_mode = FRICTION_ON;
else
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 < -400)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
// // 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,
// if( rc_data[TEMP].rc.switch_left == 3)
// {
// shoot_cmd_send.friction_mode = FRICTION_ON;
// if(vision_recv_data->fire_mode ==AUTO_AIM)
// shoot_cmd_send.load_mode = LOAD_1_BULLET;
// else
// shoot_cmd_send.load_mode = LOAD_STOP;
// }
shoot_cmd_send.shoot_rate = 15;
}
/**
* @brief 输入为键鼠时模式和控制量设置
*
*/
static void MouseKeySet()
{
}
/**
* @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.
*
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
*
*/
static void EmergencyHandler()
{
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],遥控器控制
{
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
{
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转
gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
}
// 遥控器右侧开关为[上],恢复正常运行
if (switch_is_up(rc_data[TEMP].rc.switch_right))
{
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
}
}
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
{
switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C] % 2) // ctrl+c 进入急停
{
case 0:
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
break;
default:
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
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;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转
gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
break;
}
}
}
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
void RobotCMDTask()
{
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
CalcOffsetAngle();
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
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],遥控器控制
RemoteControlSet();
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
MouseKeySet();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
}