diff --git a/application/chassis/balance.c b/application/chassis/balance.c index ff14728..b46c07a 100644 --- a/application/chassis/balance.c +++ b/application/chassis/balance.c @@ -453,6 +453,7 @@ static void CommNPower() ui_data.chassis_mode = chassis_cmd_recv.chassis_mode; ui_data.ui_mode = chassis_cmd_recv.ui_mode; ui_data.vision_mode = chassis_cmd_recv.vision_mode; + memcpy(ui_data.coord, l_side.coord, sizeof(l_side.coord)); } void BalanceTask() diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index 63acc04..5ee621a 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -14,6 +14,7 @@ #include "referee_UI.h" #include "string.h" #include "cmsis_os.h" +#include "balance.h" static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据 static referee_info_t *referee_recv_info; // 接收到的裁判系统数据 @@ -60,6 +61,13 @@ static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change static uint32_t shoot_line_location[10] = {540, 960, 600, 460, 420, 350}; +#define Leg_X_Offset 1650 +#define Leg_Y_Offset 500 +#define Leg_Gain 500 +static Graph_Data_t Leg_Graph_sta[2]; +static Graph_Data_t Leg_Graph_dyn[6]; +static uint32_t Processed_coord[6] = {1605, 455, 1695, 410, 1785, 455}; // Y坐标取反，放大，平移后的 + void MyUIInit() { if (!referee_recv_info->init_flag) @@ -120,6 +128,23 @@ void MyUIInit() // 能量条初始状态 UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); + + // 底盘方向--指示云台方向 + UILineDraw(&Leg_Graph_sta[0], "ws0", UI_Graph_ADD, 9, UI_Color_Purplish_red, 4, 1700, 600, 1700, 705); + UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_sta[0]); + + // 腿部运动，五连杆 + UILineDraw(&Leg_Graph_dyn[1], "wd1", UI_Graph_ADD, 7, UI_Color_Yellow, 5, + 0 + Leg_X_Offset, 0 + Leg_Y_Offset, (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset); // 水平线 + UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_ADD, 7, UI_Color_Green, 5, + 0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿 + UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_ADD, 7, UI_Color_Green, 5, + Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿 + UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5, + (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿 + UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5, + Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿 + UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]); } // 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 @@ -262,6 +287,50 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; } + + // 底盘方向 + if (_Interactive_data->Referee_Interactive_Flag.direction_flag == 1) + { + switch (_Interactive_data->direction) + { + case CHASSIS_SIDLE: + { + UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1700, 600, 1700, 700); + break; + } + case CHASSIS_ALIGN: + { + UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1650, 600, 1750, 600); + break; + } + } + UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_dyn[0]); + _Interactive_data->Referee_Interactive_Flag.direction_flag = 0; + } + + if (Processed_coord[0] != (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset)) + { + Processed_coord[0] = (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset); + Processed_coord[1] = (uint32_t)(_Interactive_data->coord[1] * -Leg_Gain + Leg_Y_Offset); + Processed_coord[2] = (uint32_t)(_Interactive_data->coord[2] * Leg_Gain + Leg_X_Offset); + Processed_coord[3] = (uint32_t)(_Interactive_data->coord[3] * -Leg_Gain + Leg_Y_Offset); + Processed_coord[4] = (uint32_t)(_Interactive_data->coord[4] * Leg_Gain + Leg_X_Offset); + Processed_coord[5] = (uint32_t)(_Interactive_data->coord[5] * -Leg_Gain + Leg_Y_Offset); + + // 腿部运动，五连杆，不需要检测变更，实时显示变化 + UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_Change, 7, UI_Color_Green, 5, + 0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿 + + UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_Change, 7, UI_Color_Green, 5, + Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿 + + UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_Change, 7, UI_Color_Purplish_red, 5, + (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿 + + UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_Change, 7, UI_Color_Purplish_red, 5, + Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿 + UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]); + } } /** @@ -319,4 +388,10 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->Referee_Interactive_Flag.loader_flag = 1; _Interactive_data->loader_last_mode = _Interactive_data->loader_mode; } + + if (_Interactive_data->direction != _Interactive_data->last_direction) + { + _Interactive_data->Referee_Interactive_Flag.direction_flag = 1; + _Interactive_data->last_direction = _Interactive_data->direction; + } } diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index e940851..21d0369 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -74,6 +74,7 @@ typedef struct vision_mode_e vision_mode; // 视觉状态 loader_mode_e loader_mode; // 拨盘模式 chassis_direction_e direction; // 对齐状态 + float coord[6]; // 五连杆 // 上一次的模式，用于flag判断 chassis_mode_e chassis_last_mode;