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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65
application/chassis/balance.c
View File

@@ -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
{
// // 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);
}
}
/* 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);
}

79
application/cmd/robot_cmd.c
View File

@@ -69,6 +69,9 @@ void RobotCMDInit()
gimbal_cmd_send.yaw = 0;
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.load_mode = LOAD_STOP;
shoot_cmd_send.friction_mode = FRICTION_OFF;
robot_state = ROBOT_STOP; // 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
}
@@ -112,6 +115,8 @@ static void CalcOffsetAngle()
static void RemoteControlSet()
{
shoot_cmd_send.bullet_speed = 30;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
// // 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
// {
@@ -123,7 +128,6 @@ static void RemoteControlSet()
{
chassis_direction = CHASSIS_ALIGN;
yaw_chassis_align_ecd = 2716;
}
else if (abs(rc_data[TEMP].rc.rocker_r_) > 500)
{
@@ -131,17 +135,28 @@ static void RemoteControlSet()
yaw_chassis_align_ecd = 765;
}
// 右拨杆拨下去,底盘旋转
if (switch_is_down(rc_data[TEMP].rc.switch_right))
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
}
if (switch_is_mid(rc_data[TEMP].rc.switch_left))
{
chassis_cmd_send.delta_leglen = -0.000001f * (abs(rc_data[TEMP].rc.dial) > 100 ? (float)rc_data[TEMP].rc.dial : 0);
}
chassis_cmd_send.vx = 0.003f * ((float)rc_data[TEMP].rc.rocker_r_ + (float)rc_data[TEMP].rc.rocker_r1);
gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_;
gimbal_cmd_send.pitch -= 0.0004f * (float)rc_data[TEMP].rc.rocker_l1;
gimbal_cmd_send.pitch -= 0.0006f * (float)rc_data[TEMP].rc.rocker_l1;
// 摇杆控制的软件限位
gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, -35.0f, 30.0f);
// gimbal_cmd_send.yaw = float_constrain(gimbal_cmd_send.yaw, -180.0f, 180.0f);
gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE);
// 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
// 摩擦轮控制,拨轮向上打为负,向下为正
if (switch_is_down(rc_data[TEMP].rc.switch_left))
{
if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
shoot_cmd_send.friction_mode = FRICTION_ON;
else
@@ -151,6 +166,8 @@ static void RemoteControlSet()
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
}
// // 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
// if( rc_data[TEMP].rc.switch_left == 3)
// {
@@ -169,6 +186,54 @@ static void RemoteControlSet()
*/
static void MouseKeySet()
{
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
gimbal_cmd_send.yaw -= 0.1f * rc_data[TEMP].mouse.x;
gimbal_cmd_send.pitch -= 0.1f * rc_data[TEMP].mouse.y;
gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE);
chassis_cmd_send.vx = BALANCE_MAX_SPEED * (float)(rc_data[TEMP].key[KEY_PRESS].w - rc_data[TEMP].key[KEY_PRESS].s
+ rc_data[TEMP].key[KEY_PRESS].a - rc_data[TEMP].key[KEY_PRESS].d);
chassis_cmd_send.delta_leglen = (float)(rc_data[TEMP].key[KEY_PRESS].e - rc_data[TEMP].key[KEY_PRESS].c) * 0.001f;
if (rc_data[TEMP].key[KEY_PRESS].w || rc_data[TEMP].key[KEY_PRESS].s)
{
chassis_cmd_send.direction = CHASSIS_ALIGN;
}
else if (rc_data[TEMP].key[KEY_PRESS].a || rc_data[TEMP].key[KEY_PRESS].d)
{
chassis_cmd_send.direction = CHASSIS_SIDLE;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q 小陀螺
{
case 0:
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
break;
default:
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
break;
}
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F 摩擦轮
{
case 0:
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
if(rc_data[TEMP].mouse.press_r)
{
gimbal_cmd_send.yaw = ( vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw );
gimbal_cmd_send.pitch =( vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch );
}
}
/**
@@ -183,7 +248,7 @@ static void EmergencyHandler()
if (switch_is_down(rc_data[TEMP].rc.switch_left) || switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制
{
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
if ((rc_data[TEMP].rc.dial > 300 && switch_is_down(rc_data[TEMP].rc.switch_left)) || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
{
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
@@ -201,6 +266,7 @@ static void EmergencyHandler()
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.direction = CHASSIS_ALIGN;
}
}
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
@@ -210,6 +276,9 @@ static void EmergencyHandler()
case 0:
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.direction = CHASSIS_ALIGN;
break;
default:

40
application/gimbal/gimbal.c
View File

@@ -26,26 +26,26 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.5, //0.55
.Ki = 0.0,//0.05
.Kd = 0.0,//0.02
.CoefA =0.0,//0.5
.CoefB = 0.0,//0.6
.Kp = 0.8, //0.5
.Ki = 6.0,//0
.Kd = 0.0,//0
.CoefA =10.0,//0
.CoefB = 0.5,//0
.Output_LPF_RC = 0,
.DeadBand = 0.0,//0.02
.Derivative_LPF_RC=0.0,//0.008
.DeadBand = 0.0,//0
.Derivative_LPF_RC=0.0,//0
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
.IntegralLimit = 0.0,
.IntegralLimit = 5.0,
.MaxOut = 400,
.MaxOut = 20,
},
.speed_PID = {
.Kp = 15000,//22000
.Kp = 25000,//14000
.Ki = 0,//
.Kd =0,
// .CoefA = 0.8,
// .CoefB = 0.1,
.Output_LPF_RC = 0.0,//0.002
.Output_LPF_RC = 0.0,//0
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 0,
.MaxOut = 20000,
@@ -72,7 +72,7 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp =0.4,//0.4
.Kp =0.6,//0.4
.Ki = 0.0,//0.15
.Kd = 0.0,//0.006
.CoefA = 0.0,//0.5
@@ -81,17 +81,17 @@ void GimbalInit()
.Output_LPF_RC = 0.0,//0.01
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit| PID_OutputFilter|PID_DerivativeFilter,
.IntegralLimit =1,//1
.MaxOut = 600,//600
.MaxOut = 10,//600
},
.speed_PID = {
.Kp=10000,//14000
.Kp=13000,//10000
.Ki =0,//0
.Kd =0.0,//0.0005
.CoefA =0,//1500
.CoefB =0,//2000
.Output_LPF_RC = 0.0,//0.005
.Kd =0.0,//0
.CoefA =0,//0
.CoefB =0,//0
.Output_LPF_RC = 0.0,//0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_OutputFilter,
.IntegralLimit =3000,//3000
.IntegralLimit =3000,//0
.MaxOut = 20000,//20000
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
@@ -137,7 +137,7 @@ void GimbalTask()
// DJIMotorSetFeedfoward(yaw_motor,SPEED_FEEDFORWARD);
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
//DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);

5
application/robot_def.h
View File

@@ -29,8 +29,8 @@
#define YAW_CHASSIS_ALIGN_ECD 2716 // 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 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MAX_ANGLE (30.0f) // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE (-30.0f) // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
// 发射参数
#define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出
@@ -42,6 +42,7 @@
#define GYRO2GIMBAL_DIR_PITCH 1 // 陀螺仪数据相较于云台的pitch的方向,1为相同,-1为相反
#define GYRO2GIMBAL_DIR_ROLL 1 // 陀螺仪数据相较于云台的roll的方向,1为相同,-1为相反
#define BALANCE_MAX_SPEED 2.0f // 底盘最大速度,单位m/s
// 检查是否出现主控板定义冲突,只允许一个开发板定义存在,否则编译会自动报错
#if (defined(ONE_BOARD) && defined(CHASSIS_BOARD)) || \
(defined(ONE_BOARD) && defined(GIMBAL_BOARD)) || \