完成了底盘的框架,逆运动学解算和IMU融合尚未编写,也尚未对双板兼容条件编译进行设置,can未添加

2026-07-24 03:27:45 +08:00 · 2022-12-04 13:49:08 +08:00
parent 78c9a77cf4
commit 92f376656c
12 changed files with 212 additions and 230 deletions
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -1,35 +1,61 @@
+/**
+ * @file chassis.c
+ * @author NeoZeng neozng1@hnu.edu.cn
+ * @brief 底盘应用,负责接收robot_cmd的控制命令并根据命令进行运动学解算,得到输出
+ *        注意底盘采取右手系,对于平面视图,底盘纵向运动的正前方为x正方向;横向运动的右侧为y正方向
+ *
+ * @version 0.1
+ * @date 2022-12-04
+ *
+ * @copyright Copyright (c) 2022
+ *
+ */
+
 #include "chassis.h"
 #include "robot_def.h"
 #include "dji_motor.h"
 #include "super_cap.h"
 #include "message_center.h"
+#include "referee.h"
+
 #include "arm_math.h"

-#define OFFSET_X_CENTER  //纵向轮距(前进后退方向)
-#define OFFSET_Y_CENTER  //横向轮距(左右平移方向)
-#define RADIUS_WHEEL     //轮子半径
-#define PERIMETER_WHEEL
-#define REDUCTION_RATIO 19
+/* 需要根据机器人底盘修改的参数,单位为mm(毫米) */
+#define WHEEL_BASE 300           // 纵向轴距(前进后退方向)
+#define TRACK_WIDTH 300          // 横向轮距(左右平移方向)
+#define CENTER_GIMBAL_OFFSET_X 0 // 云台旋转中心距底盘几何中心的距离,前后方向,云台位于正中心时默认设为0
+#define CENTER_GIMBAL_OFFSET_Y 0 // 云台旋转中心距底盘几何中心的距离,左右方向,云台位于正中心时默认设为0
+#define RADIUS_WHEEL 60          // 轮子半径
+#define REDUCTION_RATIO 19       // 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

-/* 底盘应用包含的模块和信息存储 */
-#ifdef CHASSIS_BOARD // 使用板载IMU获取底盘转动角速度
+/* 自动计算的参数 */
+#define HALF_WHEEL_BASE (WHEEL_BASE / 2.0f)
+#define HALF_TRACK_WIDTH (TRACK_WIDTH / 2.0f)
+#define PERIMETER_WHEEL (RADIUS_WHEEL * 2 * PI)
+
+/* 底盘应用包含的模块和信息存储,底盘是单例模式,因此不需要为底盘建立单独的结构体 */
+#ifdef CHASSIS_BOARD // 如果是底盘板,使用板载IMU获取底盘转动角速度
+#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;
 #endif // CHASSIS_BOARD
-// static SuperCAP cap;
-static dji_motor_instance *lf; // left right forward back
-static dji_motor_instance *rf;
-static dji_motor_instance *lb;
-static dji_motor_instance *rb;
+static referee_info_t *referee_data; // 裁判系统的数据
+// static SuperCAP* cap; 尚未增加超级电容
+static dji_motor_instance *motor_lf; // left right forward back
+static dji_motor_instance *motor_rf; 
+static dji_motor_instance *motor_lb;
+static dji_motor_instance *motor_rb;

-static Publisher_t* chassis_pub;
+/* 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 Subscriber_t *chassis_sub;
 static Chassis_Upload_Data_s chassis_feedback_data;

-// 将云台系的速度投影到底盘
-static float chassis_vx,chassis_vy; 
-
+/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
+static float chassis_vx, chassis_vy;     // 将云台系的速度投影到底盘
+static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅

 void ChassisInit()
 {
@@ -40,11 +66,6 @@ void ChassisInit()
            .tx_id = 1,
        },
        .controller_param_init_config = {
-            .angle_PID = {
-                .Kd = 10,
-                .Ki = 1,
-                .Kd = 2,
-            },
            .speed_PID = {

            },
@@ -66,11 +87,6 @@ void ChassisInit()
            .tx_id = 2,
        },
        .controller_param_init_config = {
-            .angle_PID = {
-                .Kd = 10,
-                .Ki = 1,
-                .Kd = 2,
-            },
            .speed_PID = {

            },
@@ -92,11 +108,6 @@ void ChassisInit()
            .tx_id = 3,
        },
        .controller_param_init_config = {
-            .angle_PID = {
-                .Kd = 10,
-                .Ki = 1,
-                .Kd = 2,
-            },
            .speed_PID = {

            },
@@ -118,11 +129,6 @@ void ChassisInit()
            .tx_id = 4,
        },
        .controller_param_init_config = {
-            .angle_PID = {
-                .Kd = 10,
-                .Ki = 1,
-                .Kd = 2,
-            },
            .speed_PID = {

            },
@@ -138,74 +144,113 @@ void ChassisInit()
        },
        .motor_type = M3508};

-    lf = DJIMotorInit(&left_foward_config);
-    rf = DJIMotorInit(&right_foward_config);
-    lb = DJIMotorInit(&left_back_config);
-    rb = DJIMotorInit(&right_back_config);
+    motor_lf = DJIMotorInit(&left_foward_config);
+    motor_rf = DJIMotorInit(&right_foward_config);
+    motor_lb = DJIMotorInit(&left_back_config);
+    motor_rb = DJIMotorInit(&right_back_config);

+    referee_data = RefereeInit(&huart6);
    // SupercapInit();

-    chassis_sub=SubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
-    chassis_pub=PubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
+    chassis_sub = SubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
+    chassis_pub = PubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
 }

-
+#define LF_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
+#define RF_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE - CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
+#define LB_CENTER ((HALF_TRACK_WIDTH + CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
+#define RB_CENTER ((HALF_TRACK_WIDTH - CENTER_GIMBAL_OFFSET_X + HALF_WHEEL_BASE + CENTER_GIMBAL_OFFSET_Y) * ANGLE_2_RAD)
 /**
 * @brief 计算每个轮毂电机的输出,正运动学解算
- * 
+ *        用宏进行预替换减小开销
 */
 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;
+}

+/**
+ * @brief 根据裁判系统和电容剩余容量对输出进行限制并设置电机参考值
+ *
+ */
+static void LimitChassisOutput()
+{
+    // 限制待添加
+    // referee_data->PowerHeatData.chassis_power;
+    // referee_data->PowerHeatData.chassis_power_buffer;
+
+    DJIMotorSetRef(motor_lf, vt_lf);
+    DJIMotorSetRef(motor_rf, vt_rf);
+    DJIMotorSetRef(motor_lb, vt_lb);
+    DJIMotorSetRef(motor_rb, vt_rb);
 }

 /**
 * @brief 根据每个轮子的速度反馈,计算底盘的实际运动速度,逆运动解算
- * 
+ *        对于双板的情况,考虑增加来自底盘板IMU的数据
+ *
 */
 static void EstimateSpeed()
 {
-
+    // 根据电机速度和imu的速度解算
+    // chassis_feedback_data.vx vy wz
+    //  ...
+    
 }
-// chassis_cmd_recv chassis_feedback_data
+
 void ChassisTask()
 {
    // 后续增加没收到消息的处理
    // 获取新的控制信息
-    SubGetMessage(chassis_sub,&chassis_cmd_recv);
+    SubGetMessage(chassis_sub, &chassis_cmd_recv);

-    if(chassis_cmd_recv.chassis_cmd.chassis_mode==CHASSIS_ZERO_FORCE)
+    // 如果出现重要模块离线或遥控器设置为急停,让电机停止
+    if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
    {
        DJIMotorStop();
    }

    // 根据云台和底盘的角度offset将控制量映射到底盘坐标系上
-    chassis_vx=chassis_cmd_recv.chassis_cmd.vx*arm_cos_f32(chassis_cmd_recv.chassis_cmd.offset_angle)-
-               chassis_cmd_recv.chassis_cmd.vy*arm_sin_f32(chassis_cmd_recv.chassis_cmd.offset_angle);
-    chassis_vy=chassis_cmd_recv.chassis_cmd.vx*arm_sin_f32(chassis_cmd_recv.chassis_cmd.offset_angle)-
-               chassis_cmd_recv.chassis_cmd.vy*arm_cos_f32(chassis_cmd_recv.chassis_cmd.offset_angle);
+    // 底盘逆时针旋转为角度正方向;云台命令的方向以云台指向的方向为x,采用右手系(x指向正北时y在正东)
+    chassis_vx = chassis_cmd_recv.vx * arm_cos_f32(chassis_cmd_recv.offset_angle) -
+                 chassis_cmd_recv.vy * arm_sin_f32(chassis_cmd_recv.offset_angle);
+    chassis_vy = chassis_cmd_recv.vx * arm_sin_f32(chassis_cmd_recv.offset_angle) -
+                 chassis_cmd_recv.vy * arm_cos_f32(chassis_cmd_recv.offset_angle);

    // 根据控制模式设定旋转速度
-    switch (chassis_cmd_recv.chassis_cmd.chassis_mode)
+    switch (chassis_cmd_recv.chassis_mode)
    {
    case CHASSIS_NO_FOLLOW:
-        chassis_cmd_recv.chassis_cmd.wz=0;
+        chassis_cmd_recv.wz = 0; // 云台任意移动模式,不旋转,一般用于调整云台姿态
        break;
    case CHASSIS_FOLLOW_GIMBAL_YAW:
-        chassis_cmd_recv.chassis_cmd.wz=0.05f*powf(chassis_cmd_recv.chassis_cmd.wz,2.0f); // 不开pid,以误差角平方为输出
+        chassis_cmd_recv.wz = 0.05f * powf(chassis_cmd_recv.wz, 2.0f); // 跟随,不开pid,以误差角平方为输出
        break;
    case CHASSIS_ROTATE:
-        //chassis_cmd_recv.chassis_cmd.wz 当前维持定值,后续增加不规则的变速策略
+        // chassis_cmd_recv.wz // 当前维持定值,后续增加不规则的变速策略
        break;
    default:
        break;
    }

-    //根据控制模式进行正运动学解算,计算底盘输出
+    // 根据控制模式进行正运动学解算,计算底盘输出
    MecanumCalculate();

-    //根据电机的反馈速度计算
+    // 根据裁判系统的反馈数据和电容数据对输出限幅
+    LimitChassisOutput();
+
+    // 根据电机的反馈速度计算
    EstimateSpeed();

-    PubPushMessage(chassis_pub,&chassis_feedback_data);
+    //获取裁判系统数据
+    // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
+    chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0; // 
+    chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
+    chassis_feedback_data.rest_heat=referee_data->PowerHeatData.shooter_heat0;
+
+    // 推送反馈消息
+    PubPushMessage(chassis_pub, &chassis_feedback_data);
 }
--- a/application/cmd/chassis_cmd.c
+++ b/application/cmd/chassis_cmd.c
@@ -1,40 +0,0 @@
-#include "robot_def.h"
-#include "chassis_cmd.h"
-#include "referee.h"
-#include "message_center.h"
-
-
-/* chassis_cmd应用包含的模块和信息存储 */
-static referee_info_t *referee_data;               // 裁判系统的数据
-#ifndef ONE_BOARD
-#include "can_comm.h"
-static CANCommInstance *chasiss_can_comm; // 双板通信CAN comm
-#endif // !ONE_BOARD
-//和chassis应用的交互
-static Publisher_t* chassis_cmd_pub;
-static Chassis_Ctrl_Cmd_s chassis_cmd;             // 发送给chassis应用的控制信息
-static Subscriber_t* chassis_feed_sub;
-static Chassis_Upload_Data_s chassis_fetch_data;   // chassis反馈的数据
-//和gimbal_cmd的交互
-static Publisher_t* chassis2gimbal_pub;
-static Chassis2Gimbal_Data_s data_to_gimbal_cmd;   // 发送给gimbal_cmd的数据,包括热量限制,底盘功率等
-static Subscriber_t* gimbal2chassis_sub;
-static Gimbal2Chassis_Data_s data_from_gimbal_cmd; // 来自gimbal_cmd的数据,主要是底盘控制量
-
-
-void ChassisCMDInit()
-{
-    referee_data= RefereeInit(&huart6);
-    
-    chassis_cmd_pub=PubRegister("chassis_cmd",sizeof(Chassis_Ctrl_Cmd_s));
-    chassis_feed_sub=SubRegister("chassis_feed",sizeof(Chassis_Upload_Data_s));
-    chassis2gimbal_pub=PubRegister("chassis2gimbal",sizeof(Chassis2Gimbal_Data_s));
-    gimbal2chassis_sub=SubRegister("gimbal2chassis",sizeof(Gimbal2Chassis_Data_s));
-}
-
-void ChassisCMDTask()
-{
-    SubGetMessage(chassis_feed_sub,&chassis_fetch_data);
-    SubGetMessage(gimbal2chassis_sub,&data_from_gimbal_cmd);
-    
-}
--- a/application/cmd/chassis_cmd.h
+++ b/application/cmd/chassis_cmd.h
@@ -1,8 +0,0 @@
-#ifndef CHASSIS_CMD_H
-#define CHASSIS_CMD_H
-
-void ChassisCMDInit();
-
-void ChassisCMDTask();
-
-#endif // !CHASSIS_CMD_H
--- a/application/cmd/gimbal_cmd.c
+++ b/application/cmd/gimbal_cmd.c
@@ -1,65 +0,0 @@
-#include "robot_def.h"
-#include "gimbal_cmd.h"
-#include "remote_control.h"
-#include "ins_task.h"
-#include "master_process.h"
-#include "message_center.h"
-
-
-/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
-#ifndef ONE_BOARD
-#include "can_comm.h"
-static CANCommInstance *chasiss_can_comm; //双板通信
-#endif // !ONE_BOARD
-static RC_ctrl_t *remote_control_data;              // 遥控器数据
-static Vision_Recv_s *vision_recv_data;             // 视觉接收数据
-static Vision_Send_s *vision_send_data;             // 视觉发送数据
-
-static Publisher_t* gimbal_cmd_pub;
-static Gimbal_Ctrl_Cmd_s gimbal_cmd_send;           // 传递给云台的控制信息
-static Subscriber_t* gimbal_cmd_feed_sub;
-static Gimbal_Upload_Data_s gimbal_fetch_data;      // 从云台获取的反馈信息
-
-static Publisher_t* shoot_cmd_pub;
-static Shoot_Ctrl_Cmd_s shoot_cmd_send;             // 传递给发射的控制信息
-static Subscriber_t* shoot_cmd_feed_sub;
-static Shoot_Upload_Data_s shoot_fetch_data;        // 从发射获取的反馈信息
-
-static Publisher_t* gimbal2chassis_pub;
-static Gimbal2Chassis_Data_s data_to_chassis_cmd;   // 发送给底盘CMD应用的控制信息,主要是遥控器和UI绘制相关
-static Subscriber_t* chassis2gimbal_sub;
-static Chassis2Gimbal_Data_s data_from_chassis_cmd; // 从底盘CMD应用接收的控制信息,底盘功率枪口热量等
-
-
-static void CalcOffsetAngle()
-{
-}
-
-static void SetRobotMode()
-{
-}
-
-static void SetCtrlData()
-{
-}
-
-static void SetCtrlMessage()
-{
-}
-
-void GimbalCMDInit()
-{
-    remote_control_data=RC_init(&huart3);
-    vision_recv_data=VisionInit(&huart1);
-
-    gimbal_cmd_pub=PubRegister("gimbal_cmd",sizeof(Gimbal_Ctrl_Cmd_s));
-    gimbal_cmd_feed_sub=SubRegister("gimbal_feed",sizeof(Gimbal_Upload_Data_s));
-    shoot_cmd_pub=PubRegister("shoot_cmd",sizeof(Shoot_Ctrl_Cmd_s));
-    shoot_cmd_feed_sub=SubRegister("shoot_feed",sizeof(Shoot_Upload_Data_s));
-    gimbal2chassis_pub=PubRegister("gimbal2chassis",sizeof(Gimbal2Chassis_Data_s));
-    chassis2gimbal_sub=SubRegister("chassis2gimbal",sizeof(Chassis2Gimbal_Data_s));
-}
-
-void GimbalCMDTask()
-{
-}
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -0,0 +1,63 @@
+#include "robot_def.h"
+#include "robot_cmd.h"
+#include "remote_control.h"
+#include "ins_task.h"
+#include "master_process.h"
+#include "message_center.h"
+
+/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
+#ifndef ONE_BOARD
+#include "can_comm.h"
+static CANCommInstance *chasiss_can_comm; // 双板通信
+#endif                                    // !ONE_BOARD
+static RC_ctrl_t *remote_control_data;    // 遥控器数据
+static Vision_Recv_s *vision_recv_data;   // 视觉接收数据
+static Vision_Send_s *vision_send_data;   // 视觉发送数据
+
+static Publisher_t *gimbal_cmd_pub;
+static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
+static Subscriber_t *gimbal_cmd_feed_sub;
+static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
+
+static Publisher_t *shoot_cmd_pub;
+static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
+static Subscriber_t *shoot_cmd_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_cmd_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 void CalcOffsetAngle()
+{
+}
+
+static void SetRobotMode()
+{
+}
+
+static void SetCtrlData()
+{
+}
+
+static void SetCtrlMessage()
+{
+}
+
+void GimbalCMDInit()
+{
+    remote_control_data = RC_init(&huart3);
+    vision_recv_data = VisionInit(&huart1);
+
+    gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
+    gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
+    shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
+    shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
+    chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s));
+    chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
+}
+
+void GimbalCMDTask()
+{
+}
--- a/application/cmd/gimbal_cmd.h
+++ b/application/cmd/gimbal_cmd.h
--- a/application/cmd/robot_cmd.md
+++ b/application/cmd/robot_cmd.md
--- a/application/robot.c
+++ b/application/robot.c
@@ -3,40 +3,35 @@

 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
 #include "chassis.h"
-#include "chassis_cmd.h"
-#endif 
+#endif
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
 #include "gimbal.h"
 #include "shoot.h"
-#include "gimbal_cmd.h"
-#endif 
-
+#include "robot_cmd.h"
+#endif

 void RobotInit()
 {
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
    ChassisInit();
-    ChassisCMDInit();
-#endif 
+#endif

 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
    GimbalCMDInit();
    GimbalInit();
    ShootInit();
-#endif 
+#endif
 }

 void RobotTask()
 {
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
    ChassisTask();
-    ChassisCMDTask();
-#endif 
+#endif

 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
    GimbalCMDTask();
    GimbalTask();
    ShootTask();
-#endif 
+#endif
 }
-
--- a/application/robot_def.h
+++ b/application/robot_def.h
@@ -12,6 +12,10 @@
 #ifndef ROBOT_DEF_H
 #define ROBOT_DEF_H

+#define PI 3.14159f
+#define RAD_2_ANGLE (180.0f/PI)
+#define ANGLE_2_RAD (PI/180.0f)
+
 #include "ins_task.h"
 #include "master_process.h"
 #include "stdint-gcc.h"
@@ -25,6 +29,7 @@
 /* 重要参数定义,注意根据不同机器人进行修改 */
 #define YAW_MID_ECD

+
 #if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
    (defined(ONE_BOARD) && defined(GIMBAL_BOARD)) ||  \
    (defined(CHASSIS_BOARD) && defined(GIMBAL_BOARD))
@@ -90,57 +95,34 @@ typedef enum
 // 功率限制,从裁判系统获取
 typedef struct
 { // 功率控制
-    uint8_t power_limit;
-    uint8_t buffer_power_rest;
+    
 } Chassis_Power_Data_s;




-/* ------------CMD模块之间的控制数据传递,应当由gimbal_cmd和chassis_cmd订阅------------ */
-/**
- * @brief 对于双板通信的情况,两个CMD模块各有一个can comm.
- *
- */
-
-// gimbal_cmd发布的底盘控制数据,由chassis_cmd订阅
-//  注意这里没有功率限制,为了兼容双板模式,先让chassis_cmd订阅,后者会添加功率信息再发布
-typedef struct
-{
-    // 速度控制
-    float vx;           // 前进方向速度
-    float vy;           // 横移方向速度
-    float wz;           // 旋转速度
-    float offset_angle; // 底盘和归中位置的夹角
-
-    chassis_mode_e chassis_mode;
-} Gimbal2Chassis_Data_s;
-
-// chassis_cmd发布的裁判系统和底盘信息相关的数据,由gimbal_cmd订阅
-typedef struct
-{
-    float chassis_real_rotate_wz;
-    uint8_t rest_heat;
-    Bullet_Speed_e bullet_speed;
-    Enemy_Color_e enemy_color; // 0 for blue, 1 for red
-} Chassis2Gimbal_Data_s;
-
-
-

 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
 /**
 * @brief 对于双板情况,遥控器和pc在云台,裁判系统在底盘
 *
 */
-// chassis_cmd根据raw ctrl data添加功率限制后发布的底盘控制数据,由chassis订阅
+// cmd发布的底盘控制数据,由chassis订阅
 typedef struct
 {
-    Chassis_Power_Data_s chassis_power;
-    Gimbal2Chassis_Data_s chassis_cmd;
+    // 控制部分
+    float vx;           // 前进方向速度
+    float vy;           // 横移方向速度
+    float wz;           // 旋转速度
+    float offset_angle; // 底盘和归中位置的夹角
+    chassis_mode_e chassis_mode;
+
+    //UI部分
+    // ...
+
 } Chassis_Ctrl_Cmd_s;

-// gimbal_cmd发布的云台控制数据,由gimbal订阅
+// cmd发布的云台控制数据,由gimbal订阅
 typedef struct
 { // 云台角度控制
    float yaw;
@@ -150,7 +132,7 @@ typedef struct
    gimbal_mode_e gimbal_mode;
 } Gimbal_Ctrl_Cmd_s;

-// gimba_cmd发布的发射控制数据,由shoot订阅
+// cmd发布的发射控制数据,由shoot订阅
 typedef struct
 { // 发射弹速控制
    loader_mode_e load_mode;
@@ -174,6 +156,18 @@ typedef struct
 #ifdef CHASSIS_BOARD
    attitude_t chassis_imu_data;
 #endif // CHASSIS_BOARD
+
+    // 后续增加底盘的真实速度
+    // float real_vx;
+    // float real_vy;
+    // float real_wz;
+
+    uint8_t rest_heat; //剩余枪口热量
+    Bullet_Speed_e bullet_speed; //弹速限制
+    Enemy_Color_e enemy_color; // 0 for blue, 1 for red
+
+    //是否需要剩余电量?(电容)
+
 } Chassis_Upload_Data_s;

 typedef struct