TuxMonkey/bf_original_balance_chassis
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发布beta版本,目前基本功能都可用

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NeoZng
2022-12-11 14:59:45 +08:00
parent 37c23ddb79
commit 78cc27ee1a
19 changed files with 320 additions and 115 deletions
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89
application/chassis/chassis.c
View File

@@ -32,8 +32,14 @@
#include "can_comm.h"
#include "ins_task.h"
static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
IMU_Data_t *Chassis_IMU_data;
attitude_t *Chassis_IMU_data;
#endif // CHASSIS_BOARD
#ifdef ONE_BOARD
static Publisher_t *chassis_pub;
static Subscriber_t *chassis_sub;
#endif // ONE_BOARD
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static Chassis_Upload_Data_s chassis_feedback_data;
static referee_info_t *referee_data; // 裁判系统的数据
static SuperCapInstance *cap; // 超级电容
@@ -42,12 +48,6 @@ static DJIMotorInstance *motor_rf;
static DJIMotorInstance *motor_lb;
static DJIMotorInstance *motor_rb;
/* chassis 包含的信息交互模块和数据*/
static Publisher_t *chassis_pub;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
static Subscriber_t *chassis_sub;
static Chassis_Upload_Data_s chassis_feedback_data;
/* 用于自旋变速策略的时间变量,后续考虑查表加速 */
static float t;
@@ -65,13 +65,13 @@ void ChassisInit()
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
.current_PID = {
.Kp = 10,
.Kp = 1.2,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
},
.controller_setting_init_config = {
@@ -84,22 +84,22 @@ void ChassisInit()
};
chassis_motor_config.can_init_config.tx_id = 1;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_lf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 2,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rf = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 3,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_lb = DJIMotorInit(&chassis_motor_config);
chassis_motor_config.can_init_config.tx_id = 4,
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_REVERSE;
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6);
referee_data = RefereeInit(&huart6); //裁判系统初始化
SuperCap_Init_Config_s cap_conf = {
.can_config = {
@@ -107,10 +107,28 @@ void ChassisInit()
.tx_id = 0x302,
.rx_id = 0x301,
}};
cap = SuperCapInit(&cap_conf);
cap = SuperCapInit(&cap_conf); //超级电容初始化
// 发布订阅初始化,如果为双板,则需要can comm来传递消息
#ifdef CHASSIS_BOARD
Chassis_IMU_data=INS_Init(); // 底盘IMU初始化
CANComm_Init_Config_s comm_conf = {
.can_config={
.can_handle=&hcan2,
.tx_id=0x311,
.rx_id=0x312,
},
.recv_data_len=sizeof(Chassis_Ctrl_Cmd_s),
.send_data_len=sizeof(Chassis_Upload_Data_s),
};
chasiss_can_comm = CANCommInit(&comm_conf); // can comm初始化
#endif // CHASSIS_BOARD
#ifdef ONE_BOARD
chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
#endif // ONE_BOARD
}
#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
@@ -125,8 +143,8 @@ static void MecanumCalculate()
{
vt_lf = -chassis_vx - chassis_vy - chassis_cmd_recv.wz * LF_CENTER;
vt_rf = -chassis_vx + chassis_vy - chassis_cmd_recv.wz * RF_CENTER;
vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
vt_lb = chassis_vx + chassis_vy - chassis_cmd_recv.wz * LB_CENTER;
vt_rb = chassis_vx - chassis_vy - chassis_cmd_recv.wz * RB_CENTER;
}
/**
@@ -161,18 +179,32 @@ void ChassisTask()
{
// 后续增加没收到消息的处理
// 获取新的控制信息
#ifdef ONE_BOARD
SubGetMessage(chassis_sub, &chassis_cmd_recv);
#endif
#ifdef CHASSIS_BOARD
chassis_cmd_recv=*(Chassis_Ctrl_Cmd_s*)CANCommGet(chasiss_can_comm);
#endif // CHASSIS_BOARD
if (chassis_cmd_recv.chassis_mode==CHASSIS_ZERO_FORCE)
{
DJIMotorStop(motor_lf); // 如果出现重要模块离线或遥控器设置为急停,让电机停止
DJIMotorStop(motor_rf);
DJIMotorStop(motor_lb);
DJIMotorStop(motor_rb);
}
else
{
DJIMotorEnable(motor_lf);
DJIMotorEnable(motor_rf);
DJIMotorEnable(motor_lb);
DJIMotorEnable(motor_rb);
}
// 根据控制模式设定旋转速度
// 后续增加不同状态的过渡模式?
switch (chassis_cmd_recv.chassis_mode)
{
case CHASSIS_ZERO_FORCE:
DJIMotorStop(motor_lf); // 如果出现重要模块离线或遥控器设置为急停,让电机停止
DJIMotorStop(motor_rf);
DJIMotorStop(motor_lb);
DJIMotorStop(motor_rb);
break;
case CHASSIS_NO_FOLLOW:
chassis_cmd_recv.wz = 0; // 底盘不旋转,但维持全向机动,一般用于调整云台姿态
break;
@@ -196,10 +228,10 @@ void ChassisTask()
// 根据控制模式进行正运动学解算,计算底盘输出
MecanumCalculate();
// 根据裁判系统的反馈数据和电容数据对输出限幅
// 根据裁判系统的反馈数据和电容数据对输出限幅并设定闭环参考值
LimitChassisOutput();
// 根据电机的反馈速度计算
// 根据电机的反馈速度和IMU(如果有)计算真实速度
EstimateSpeed();
// 获取裁判系统数据
@@ -210,5 +242,10 @@ void ChassisTask()
chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// 推送反馈消息
#ifdef ONE_BOARD
PubPushMessage(chassis_pub, &chassis_feedback_data);
#endif
#ifdef CHASSIS_BOARD
CANCommSend(chasiss_can_comm,(void*)&chassis_feedback_data);
#endif // CHASSIS_BOARD
}

8
application/chassis/chassis.h
View File

@@ -1,8 +1,16 @@
#ifndef CHASSIS_H
#define CHASSIS_H
/**
* @brief 底盘应用初始化,请在开启rtos之前调用
*
*/
void ChassisInit();
/**
* @brief 底盘应用任务,放入实时系统以一定频率运行
*
*/
void ChassisTask();
#endif // CHASSIS_H

74
application/cmd/robot_cmd.c
View File

@@ -12,10 +12,16 @@
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF)
/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
#ifndef ONE_BOARD
#ifdef GIMBAL_BOARD
#include "can_comm.h"
static CANCommInstance *chasiss_can_comm; // 双板通信
#endif // !ONE_BOARD
static CANCommInstance *cmd_can_comm; // 双板通信
#endif
#ifdef ONE_BOARD
static Publisher_t *chassis_cmd_pub
static Subscriber_t *chassis_feed_sub;
#endif // ONE_BOARD
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
@@ -31,10 +37,7 @@ static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
static Subscriber_t *shoot_feed_sub;
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Publisher_t *chassis_cmd_pub;
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 Subscriber_t *chassis_feed_sub;
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 Robot_Status_e robot_state;
@@ -47,8 +50,25 @@ void GimbalCMDInit()
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));
#ifdef ONE_BOARD
chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
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);
#endif // GIMBAL_BOARD
robot_state=ROBOT_WORKING; // 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
}
/**
@@ -86,7 +106,7 @@ 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.s[0])) // 右侧开关状态[下],底盘跟随云台
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
if (switch_is_mid(rc_data[TEMP].rc.s[0])) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
else if (switch_is_mid(rc_data[TEMP].rc.s[0])) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
// 云台参数,确定云台控制数据
@@ -104,24 +124,27 @@ static void RemoteControlSet()
}
// 底盘参数,目前没有加入小陀螺(调试似乎没有必要),系数需要调整
chassis_cmd_send.vx = 1.0f * (float)rc_data[TEMP].rc.joystick[0];
chassis_cmd_send.vy = 1.0f * (float)rc_data[TEMP].rc.joystick[1];
chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.joystick[0];
chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.joystick[1];
// 发射参数
if (switch_is_up(rc_data[TEMP].rc.s[0])) // 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
{// 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,后续可以根据左侧拨轮的值大小切换射频
if (rc_data[TEMP].rc.joystick[4] > 100)
if (rc_data[TEMP].rc.joystick[4] < -100)
shoot_cmd_send.friction_mode = FRICTION_ON;
else
shoot_cmd_send.friction_mode = FRICTION_OFF;
// 拨弹控制,目前固定为连发
if (rc_data[TEMP].rc.joystick[4] > 500)
if (rc_data[TEMP].rc.joystick[4] <-500)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
shoot_cmd_send.shoot_rate=1;
}
/**
@@ -140,25 +163,29 @@ static void MouseKeySet()
static void EmergencyHandler()
{
// 拨轮的向下拨超过一半,注意向下拨轮是正
if (rc_data[TEMP].rc.joystick[4] > 300) // 还需添加重要应用和模块离线的判断
if (rc_data[TEMP].rc.joystick[4] > 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; // 遥控器左上侧拨轮打满,进入紧急停止模式
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
shoot_cmd_send.shoot_mode = SHOOT_OFF;
return;
}
// if(rc_data[TEMP].rc.joystick[4]<-300 && 各个模块正常)
// {
// //恢复运行
// //...
// }
if(switch_is_up(rc_data[TEMP].rc.s[0]))
{
robot_state = ROBOT_WORKING; // 遥控器右侧开关为[上],恢复正常运行
shoot_cmd_send.shoot_mode = SHOOT_ON;
}
}
void GimbalCMDTask()
{
// 从其他应用获取回传数据
#ifdef ONE_BOARD
SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
chassis_fetch_data=*(Chassis_Upload_Data_s*)CANCommGet(cmd_can_comm);
#endif // GIMBAL_BOARD
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
@@ -181,7 +208,12 @@ void GimbalCMDTask()
// 推送消息,双板通信,视觉通信等
// 应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
PubPushMessage(chassis_cmd_pub, &chassis_cmd_send);
#ifdef ONE_BOARD
SubGetMessage(chassis_feed_sub, &chassis_fetch_data);
#endif // ONE_BOARD
#ifdef GIMBAL_BOARD
CANCommSend(cmd_can_comm,(void*)&chassis_cmd_send);
#endif // GIMBAL_BOARD
PubPushMessage(shoot_cmd_pub, &shoot_cmd_send);
PubPushMessage(gimbal_cmd_pub, &gimbal_cmd_send);
VisionSend(&vision_send_data);

16
application/gimbal/gimbal.c
View File

@@ -54,21 +54,21 @@ void GimbalInit()
Motor_Init_Config_s pitch_config = {
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 3,
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 10,
.Kp = 30,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.MaxOut = 4000,
.DeadBand=0.3,
},
.speed_PID = {
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 2000,
.MaxOut = 4000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针
@@ -117,6 +117,8 @@ void GimbalTask()
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:
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
@@ -126,6 +128,8 @@ void GimbalTask()
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:
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, MOTOR_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, MOTOR_FEED);
@@ -153,8 +157,8 @@ void GimbalTask()
// 设置反馈数据
gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = pitch_motor->motor_measure.angle_single_round;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round;
// 推送消息
// 推送消息
PubPushMessage(gimbal_pub, &gimbal_feedback_data);
}

15
application/robot.c
View File

@@ -14,26 +14,27 @@
void RobotInit()
{
BSPInit();
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisInit();
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
GimbalCMDInit();
GimbalInit();
ShootInit();
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisInit();
#endif
}
void RobotTask()
{
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
GimbalCMDTask();
GimbalTask();
ShootTask();
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
#endif
}

14
application/robot_def.h
View File

@@ -16,13 +16,12 @@
#include "master_process.h"
#include "stdint-gcc.h"
/* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译 */
/* 只能存在一个宏定义! */
#define ONE_BOARD // 单板控制整车
/* 开发板类型定义,烧录时注意不要弄错对应功能;修改定义后需要重新编译,只能存在一个定义! */
// #define ONE_BOARD // 单板控制整车
// #define CHASSIS_BOARD //底盘板
// #define GIMBAL_BOARD //云台板
#define GIMBAL_BOARD //云台板
/* 重要参数定义,注意根据不同机器人进行修改 */
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 0 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // yaw电机的初始编码器值是否大于4096,是为1,否为0
@@ -39,11 +38,12 @@
#define RADIUS_WHEEL 60 // 轮子半径
#define REDUCTION_RATIO_WHEEL 19.0f // 电机减速比,因为编码器量测的是转子的速度而不是输出轴的速度故需进行转换
// 检查是否出现定义冲突
#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \
(defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))
#error Conflict board definition! You can only define one type.
#endif // 检查是否出现定义冲突
#endif
#pragma pack(1) // 压缩结构体,取消字节对齐
@@ -92,7 +92,7 @@ typedef enum
// 发射模式设置
typedef enum
{
SHOOT_ON,
SHOOT_ON=0,
SHOOT_OFF,
}shoot_mode_e;
typedef enum

46
application/shoot/shoot.c
View File

@@ -38,7 +38,7 @@ void ShootInit()
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
},
.controller_setting_init_config = {
@@ -47,7 +47,7 @@ void ShootInit()
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
// 右摩擦轮
@@ -58,16 +58,16 @@ void ShootInit()
},
.controller_param_init_config = {
.speed_PID = {
.Kp = 1,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.current_PID = {
.Kp = 1,
.Kp = 5,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
},
.controller_setting_init_config = {
@@ -75,7 +75,7 @@ void ShootInit()
.speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP,
.close_loop_type = SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE,
.reverse_flag = MOTOR_DIRECTION_NORMAL,
},
.motor_type = M3508};
// 拨盘电机
@@ -88,28 +88,28 @@ void ShootInit()
.angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 10,
.Ki = 1,
.Kd = 2,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
},
.speed_PID = {
.Kp = 1,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 2000,
},
.current_PID = {
.Kp = 1,
.Kp = 10,
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.MaxOut = 3000,
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
.close_loop_type = ANGLE_LOOP | SPEED_LOOP | CURRENT_LOOP,
.reverse_flag = MOTOR_DIRECTION_REVERSE, // 注意方向设置为拨盘的拨出的击发方向
.close_loop_type = ANGLE_LOOP | SPEED_LOOP ,
.reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向
},
.motor_type = M2006 // 英雄使用m3508
};
@@ -134,6 +134,13 @@ void ShootTask()
DJIMotorStop(friction_r);
DJIMotorStop(loader);
}
else // 恢复运行
{
DJIMotorEnable(friction_l);
DJIMotorEnable(friction_r);
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
if (hibernate_time + dead_time > DWT_GetTimeline_ms())
@@ -147,7 +154,7 @@ void ShootTask()
DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, 0);
break;
// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入)F
// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入)
case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
DJIMotorOuterLoop(loader, ANGLE_LOOP);
DJIMotorSetRef(loader, loader->motor_measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 增加一发弹丸的角度
@@ -164,7 +171,7 @@ void ShootTask()
// 连发模式,对速度闭环,射频后续修改为可变
case LOAD_BURSTFIRE:
DJIMotorOuterLoop(loader, SPEED_LOOP);
DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_WHEEL / NUM_PER_CIRCLE);
DJIMotorSetRef(loader, shoot_cmd_recv.shoot_rate * 360 * REDUCTION_RATIO_LOADER / 8);
// x颗/秒换算成速度: 已知一圈的载弹量,由此计算出1s需要转的角度,注意换算角速度
break;
// 拨盘反转,对速度闭环,后续增加卡弹检测(通过裁判系统剩余热量反馈)
@@ -193,8 +200,17 @@ void ShootTask()
DJIMotorSetRef(friction_r, 0);
break;
default:
DJIMotorSetRef(friction_l, 200);
DJIMotorSetRef(friction_r, 200);
break;
} // 关闭摩擦轮
if (shoot_cmd_recv.friction_mode==FRICTION_OFF)
{
DJIMotorSetRef(friction_l, 0);
DJIMotorSetRef(friction_r, 0);
}
// 开关弹舱盖
if (shoot_cmd_recv.lid_mode == LID_CLOSE)