TuxMonkey/bf_original_balance_chassis
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小陀螺时移动速度置0

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kai
2024-05-23 23:22:49 +08:00
parent 845942b3d0
commit 613510642c
7 changed files with 112 additions and 98 deletions
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92
application/cmd/robot_cmd.c
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@@ -14,10 +14,7 @@
// 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
@@ -39,11 +36,10 @@ 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
static chassis_direction_e chassis_direction; // 底盘方向
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
@@ -84,8 +80,9 @@ void RobotCMDInit()
*/
static void CalcOffsetAngle()
{
//@todo:相差一整圈时会出问题，待修复
// @todo:相差一整圈时会出问题，待修复
// 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
uint16_t yaw_chassis_align_ecd;
if(chassis_direction == CHASSIS_ALIGN)
{
yaw_chassis_align_ecd = 2716;
@@ -94,9 +91,11 @@ static void CalcOffsetAngle()
{
yaw_chassis_align_ecd = 765;
}
static float angle;
static float angle, yaw_align_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)
@@ -107,7 +106,7 @@ static void CalcOffsetAngle()
chassis_cmd_send.offset_angle = angle - yaw_align_angle + 360.0f;
}
else
{ // 小于180度
{ // 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)
@@ -123,16 +122,22 @@ static void CalcOffsetAngle()
*/
static void RemoteControlSet()
{
shoot_cmd_send.bullet_speed = 30;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// // 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
// 云台参数,确定云台控制数据
gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.0006f * (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, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE);
if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[下],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 );
}
// 底盘参数
if (abs(rc_data[TEMP].rc.rocker_r1) > 500)
{
chassis_direction = CHASSIS_ALIGN;
@@ -142,24 +147,23 @@ static void RemoteControlSet()
chassis_direction = CHASSIS_SIDLE;
}
// 右拨杆拨下去,底盘旋转
// 右侧开关状态为[下],底盘旋转
if (switch_is_down(rc_data[TEMP].rc.switch_right))
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
chassis_cmd_send.vx = 0;
}
else
{
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.vx = 0.003f * (-(float)rc_data[TEMP].rc.rocker_r_ + (float)rc_data[TEMP].rc.rocker_r1);
}
// 左侧开关状态为[中]，腿长控制
if (switch_is_mid(rc_data[TEMP].rc.switch_left))
{
chassis_cmd_send.delta_leglen = -0.000001f * (abs(rc_data[TEMP].rc.dial) > 100 ? (float)rc_data[TEMP].rc.dial : 0);
}
chassis_cmd_send.vx = 0.003f * ((float)rc_data[TEMP].rc.rocker_r_ + (float)rc_data[TEMP].rc.rocker_r1);
gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.0006f * (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, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE);
// gimbal_cmd_send.yaw = float_constrain(gimbal_cmd_send.yaw, -90.0f, 90+.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 (switch_is_down(rc_data[TEMP].rc.switch_left))
@@ -168,6 +172,7 @@ static void RemoteControlSet()
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;
@@ -175,15 +180,8 @@ static void RemoteControlSet()
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;
// }
// 发射参数
shoot_cmd_send.bullet_speed = 30;
shoot_cmd_send.shoot_rate = 15;
}
@@ -200,7 +198,15 @@ static void MouseKeySet()
gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE);
chassis_cmd_send.vx = BALANCE_MAX_SPEED * (float)(rc_data[TEMP].key[KEY_PRESS].w - rc_data[TEMP].key[KEY_PRESS].s - rc_data[TEMP].key[KEY_PRESS].a + rc_data[TEMP].key[KEY_PRESS].d);
if(chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
{
chassis_cmd_send.vx = BALANCE_MAX_SPEED * (float)(rc_data[TEMP].key[KEY_PRESS].w - rc_data[TEMP].key[KEY_PRESS].s
- rc_data[TEMP].key[KEY_PRESS].a + rc_data[TEMP].key[KEY_PRESS].d);
}
else if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
{
chassis_cmd_send.vx = 0;
}
chassis_cmd_send.delta_leglen = (float)(rc_data[TEMP].key[KEY_PRESS].e - rc_data[TEMP].key[KEY_PRESS].c) * 0.001f;
@@ -233,6 +239,16 @@ static void MouseKeySet()
break;
}
if(shoot_cmd_send.friction_mode == FRICTION_ON)
{
if (rc_data[TEMP].mouse.press_l)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
}
else
shoot_cmd_send.load_mode = LOAD_STOP;
if (rc_data[TEMP].mouse.press_r)
{
gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw);
@@ -249,7 +265,6 @@ static void MouseKeySet()
*/
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 && switch_is_down(rc_data[TEMP].rc.switch_left)) || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
@@ -259,6 +274,7 @@ static void EmergencyHandler()
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;
@@ -270,7 +286,6 @@ static void EmergencyHandler()
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.direction = CHASSIS_ALIGN;
}
}
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
@@ -291,7 +306,6 @@ static void EmergencyHandler()
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
chassis_cmd_send.direction = CHASSIS_ALIGN;
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;