TuxMonkey/bf_original_balance_chassis
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遥控器键鼠

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chenfu
2024-05-23 16:27:59 +08:00
parent dbf246a750
commit b42e603e0e
4 changed files with 144 additions and 71 deletions
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67
application/chassis/balance.c
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@@ -63,6 +63,7 @@ void BalanceInit()
.tx_id = 0x311,
.rx_id = 0x312,
},
.daemon_count = 100,
.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
.send_data_len = sizeof(Chassis_Upload_Data_s),
};
@@ -225,35 +226,37 @@ static uint8_t DrivenMotorIsLost()
/* 切换底盘遥控器控制和云台双板控制 */
static void ControlSwitch()
{
// 根据裁判系统底盘输出电压设定底盘状态
float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
{
chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
return;
}
// // 根据裁判系统底盘输出电压设定底盘状态
// float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001;
// if (chassis_vol < 15.0f || JointMotorIsLost() || DrivenMotorIsLost())
// {
// chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
// return;
// }
// // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
// if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
// {
// if (switch_is_up(rc_data->rc.switch_left))
// {
// chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
// chassis_cmd_recv.vx = 0.5 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
// chassis_cmd_recv.rotate_w = 0.5 * (float)rc_data[TEMP].rc.rocker_r_;
// }
// else
// {
// chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后
// chassis_cmd_recv.vx = 0.003 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
// chassis_cmd_recv.delta_leglen = -0.0000005f * (float)rc_data[TEMP].rc.dial;
// chassis_cmd_recv.offset_angle -= 0.000005 * (float)rc_data[TEMP].rc.rocker_r_;
// }
// }
// else
// {
// chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(cmd_can_comm);
// }
chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(cmd_can_comm);
// 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
{
if (switch_is_up(rc_data->rc.switch_left))
{
chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
chassis_cmd_recv.vx = 0.5 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
chassis_cmd_recv.rotate_w = 0.5 * (float)rc_data[TEMP].rc.rocker_r_;
}
else
{
chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后
chassis_cmd_recv.vx = 0.003 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
chassis_cmd_recv.delta_leglen = -0.0000005f * (float)rc_data[TEMP].rc.dial;
chassis_cmd_recv.offset_angle -= 0.000005 * (float)rc_data[TEMP].rc.rocker_r_;
}
}
else
{
chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(cmd_can_comm);
}
}
/* 腿缩回复位,只允许驱动轮电机移动 */
@@ -267,7 +270,7 @@ static void ResetChassis()
chassis.dist = chassis.target_dist = 0;
l_side.target_len = r_side.target_len = 0.12;
// 角度输入为当前角度
chassis_cmd_recv.offset_angle = chassis.target_yaw = chassis.yaw;
// chassis_cmd_recv.offset_angle = chassis.target_yaw = chassis.yaw;
// 撞墙时前后移动保证能重新站立,执行速度输入
LKMotorSetRef(l_driven, chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w);
@@ -320,7 +323,7 @@ static void WokingStateSet()
l_side.target_len = r_side.target_len = 0.12;
chassis.dist = chassis.target_dist = 0;
// 角度输入为当前角度
chassis_cmd_recv.offset_angle = chassis.target_yaw = chassis.yaw;
// chassis_cmd_recv.offset_angle = chassis.target_yaw = chassis.yaw;
for (uint8_t i = 0; i < JOINT_CNT; i++)
HTMotorStop(joint[i]);
@@ -464,6 +467,6 @@ void BalanceTask()
return; // 复位模态或急停,直接退出
// 运动模态,电机输出映射和限幅
WattLimitSet();
CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
// WattLimitSet();
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
}