TuxMonkey/bf_original_balance_chassis
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曾家键鼠控制

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chenfu
2023-03-27 22:03:35 +08:00
parent cce87bcccd
commit 7e6a3673fb
8 changed files with 193 additions and 81 deletions
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157
application/cmd/robot_cmd.c
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@@ -21,11 +21,12 @@ static CANCommInstance *cmd_can_comm; // 双板通信
#ifdef ONE_BOARD
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
#endif // ONE_BOARD
#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
static Vision_Send_s vision_send_data; // 视觉发送数据
@@ -68,7 +69,7 @@ void RobotCMDInit()
};
cmd_can_comm = CANCommInit(&comm_conf);
#endif // GIMBAL_BOARD
gimbal_cmd_send.pitch = 0;
gimbal_cmd_send.pitch = 0;
robot_state = ROBOT_READY; // 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
}
@@ -81,9 +82,9 @@ gimbal_cmd_send.pitch = 0;
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;
static float angle;
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_ECD_GREATER_THAN_4096 // 如果大于180度
#if YAW_ECD_GREATER_THAN_4096 // 如果大于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)
@@ -100,17 +101,6 @@ static void CalcOffsetAngle()
#endif
}
static void OffsetAnglePidCalc()
{
// float pid_measure,pid_ref;
// static PIDInstance AngleCal = {
// .Kp = -1,
// .Ki = 0,
// .Kd = 0,
// .MaxOut = 10000,
// };
// chassis_cmd_send.offset_angle = PIDCalculate(&AngleCal,chassis_cmd_send.offset_angle,0);
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
@@ -119,11 +109,15 @@ 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],底盘跟随云台
{chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;}
{
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],底盘和云台分离,底盘保持不转动
{chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;}
{
chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW;
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
}
// 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
@@ -136,25 +130,24 @@ static void RemoteControlSet()
{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
// if (gimbal_cmd_send.pitch <= 122)
// {
// gimbal_cmd_send.pitch =125;
// }
// else if (gimbal_cmd_send.pitch >= 175)
// {
// gimbal_cmd_send.pitch = 174;
// }
// 摇杆控制的软件限位
// if (gimbal_cmd_send.pitch <= PITCH_MIN_ECD)
// {
// gimbal_cmd_send.pitch = PITCH_MIN_ECD;
// }
// else if (gimbal_cmd_send.pitch >= PITCH_MAX_ECD)
// {
// gimbal_cmd_send.pitch = PITCH_MAX_ECD;
// }
}
// 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
chassis_cmd_send.vx = 10.0f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
chassis_cmd_send.vy = 10.0f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
//chassis_cmd_send.wz = 300;
// 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
; // 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
@@ -163,7 +156,7 @@ static void RemoteControlSet()
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
// 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)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
@@ -178,14 +171,89 @@ static void RemoteControlSet()
*/
static void MouseKeySet()
{
// 待添加键鼠控制
// ...
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
{
case 0:
shoot_cmd_send.bullet_speed = 15;
break;
case 1:
shoot_cmd_send.bullet_speed = 18;
break;
default:
shoot_cmd_send.bullet_speed = 30;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
{
case 0:
shoot_cmd_send.load_mode = LOAD_STOP;
break;
case 1:
shoot_cmd_send.load_mode = LOAD_1_BULLET;
break;
case 2:
shoot_cmd_send.load_mode = LOAD_3_BULLET;
break;
default:
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
{
case 0:
shoot_cmd_send.lid_mode = LID_OPEN;
break;
default:
shoot_cmd_send.lid_mode = LID_CLOSE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
{
case 0:
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
{
case 0:
chassis_cmd_send.chassis_speed_buff = 40;
break;
case 1:
chassis_cmd_send.chassis_speed_buff = 60;
break;
case 2:
chassis_cmd_send.chassis_speed_buff = 80;
break;
default:
chassis_cmd_send.chassis_speed_buff = 100;
break;
}
switch (rc_data[TEMP].key[KEY_PRESS].shift) //待添加 按shift允许超功率 消耗缓冲能量
{
case 1:
break;
default:
break;
}
}
/**
* @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
*
*/
@@ -204,9 +272,25 @@ static void EmergencyHandler()
// 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;
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
}
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;
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) */
@@ -237,7 +321,8 @@ void RobotCMDTask()
vision_send_data.enemy_color = 0;
vision_send_data.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
vision_send_data.yaw = gimbal_fetch_data.gimbal_imu_data.Yaw;
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;;
vision_send_data.roll = gimbal_fetch_data.gimbal_imu_data.Roll;
;
// 推送消息,双板通信,视觉通信等
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置