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

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);
-    
-}

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

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()
-{
-}

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()
+{
+}