From c1ab3edf88cb84d2a900c752d489ee4719010e9c Mon Sep 17 00:00:00 2001 From: chenfu <2412777093@qq.com> Date: Sat, 1 Jun 2024 00:11:37 +0800 Subject: [PATCH] =?UTF-8?q?24=E5=AF=B9=E6=8A=97=E8=B5=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 6 +- Makefile | 3 +- application/chassis/balance.c | 35 ++++++------ application/cmd/robot_cmd.c | 89 +++++++++++++++++++++++------- application/gimbal/gimbal.c | 2 +- application/robot_def.h | 28 ++++++++-- application/shoot/shoot.c | 8 +-- modules/can_comm/can_comm.c | 2 +- modules/motor/DJImotor/dji_motor.c | 4 +- modules/motor/motor_task.c | 29 ++++------ modules/remote/remote_control.c | 2 +- 11 files changed, 136 insertions(+), 72 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index b4dfa76..1f0ff55 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -8,7 +8,11 @@ "user_lib.h": "c", "servo_motor.h": "c", "main.h": "c", - "buzzer.h": "c" + "buzzer.h": "c", + "robot_def.h": "c", + "bsp_log.h": "c", + "bsp_usart.h": "c", + "memory.h": "c" }, "C_Cpp.errorSquiggles": "disabled" } \ No newline at end of file diff --git a/Makefile b/Makefile index 4473243..63dc341 100644 --- a/Makefile +++ b/Makefile @@ -205,8 +205,7 @@ AS_DEFS = C_DEFS = \ -DUSE_HAL_DRIVER \ -DSTM32F407xx \ --DARM_MATH_CM4 \ --DDISABLE_LOG_SYSTEM +-DARM_MATH_CM4 # AS includes AS_INCLUDES = \ diff --git a/application/chassis/balance.c b/application/chassis/balance.c index 01b95e4..70018ec 100644 --- a/application/chassis/balance.c +++ b/application/chassis/balance.c @@ -20,7 +20,6 @@ #include "speed_estimation.h" #include "fly_detection.h" #include "buzzer.h" - // 计时变量 static uint32_t balance_dwt_cnt; static float del_t; @@ -30,7 +29,7 @@ static INS_t *Chassis_IMU_data; static RC_ctrl_t *rc_data; // 底盘单独调试用 static Chassis_Ctrl_Cmd_s chassis_cmd_recv; static Chassis_Upload_Data_s chassis_feedback_data; // 底盘反馈数据 - +static Chassis_Can_Comm chassis_can_recv; // 四个关节电机和两个驱动轮电机 static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试 static LKMotorInstance *l_driven, *r_driven, *driven[2]; @@ -290,8 +289,8 @@ static void ResetChassis() // 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); - LKMotorSetRef(r_driven, -chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w); + LKMotorSetRef(l_driven, chassis_cmd_recv.vx + (float)chassis_cmd_recv.rotate_w); + LKMotorSetRef(r_driven, -chassis_cmd_recv.vx + (float)chassis_cmd_recv.rotate_w); // 若关节完成复位,进入ready态 if (abs(lf->measure.total_angle) < 0.05 && @@ -356,15 +355,15 @@ static void WokingStateSet() HTMotorOuterLoop(joint[i], OPEN_LOOP); // 设置目标速度/腿长/距离 - l_side.target_len += chassis_cmd_recv.delta_leglen; - r_side.target_len += chassis_cmd_recv.delta_leglen; + l_side.target_len += 0.00001f*(float)chassis_cmd_recv.delta_leglen; + r_side.target_len += 0.00001f*(float)chassis_cmd_recv.delta_leglen; // 腿长限幅 VAL_LIMIT(l_side.target_len, 0.12, 0.30); VAL_LIMIT(r_side.target_len, 0.12, 0.30); // 加速度限幅,防止键盘控制摔倒 chassis.target_v += sign(chassis_cmd_recv.vx - chassis.target_v) * MAX_ACC_REF * del_t; - VAL_LIMIT(r_side.target_len, 0.002, 2.0); + // VAL_LIMIT(chassis.target_v, 0.002, 2.0); // 角度输入 if (chassis_cmd_recv.chassis_mode == CHASSIS_FREE_DEBUG) { @@ -420,11 +419,11 @@ static void SynthesizeMotion() /* 腿部控制:抗劈叉; 轮子控制:转向 */ } else if (chassis_cmd_recv.chassis_mode == CHASSIS_ROTATE) // 小陀螺 { - PIDCalculate(&steer_v_pid, chassis.wz, chassis_cmd_recv.rotate_w); + PIDCalculate(&steer_v_pid, chassis.wz, (float)chassis_cmd_recv.rotate_w); } else if (chassis_cmd_recv.chassis_mode == CHASSIS_ROTATE_REVERSE) { - PIDCalculate(&steer_v_pid, chassis.wz, -chassis_cmd_recv.rotate_w); + PIDCalculate(&steer_v_pid, chassis.wz, (float)chassis_cmd_recv.rotate_w); } l_side.T_wheel -= steer_v_pid.Output; r_side.T_wheel += steer_v_pid.Output; @@ -463,16 +462,16 @@ static void WattLimitSet() /* 设定运动模态的输出 */ // 裁判系统,双板通信,电容功率控制等 static void CommNPower() { - static uint8_t supercap_send_cnt = 0; + //static uint8_t supercap_send_cnt = 0; // CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data); - supercap_send_cnt++; - if (supercap_send_cnt % 5 == 0) - { - DataSend2Cap[0] = referee_data->PowerHeatData.buffer_energy; // 200hz发送 - DataSend2Cap[1] = referee_data->GameRobotState.chassis_power_limit; - SuperCapSend(cap, (uint8_t *)&DataSend2Cap); - supercap_send_cnt = 0; - } + // supercap_send_cnt++; + // if (supercap_send_cnt % 5 == 0) + // { + // DataSend2Cap[0] = referee_data->PowerHeatData.buffer_energy; // 200hz发送 + // DataSend2Cap[1] = referee_data->GameRobotState.chassis_power_limit; + // SuperCapSend(cap, (uint8_t *)&DataSend2Cap); + // supercap_send_cnt = 0; + // } /* 更新ui数据 */ ui_data.direction = chassis_cmd_recv.direction; ui_data.friction_mode = chassis_cmd_recv.friction_mode; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4294bff..72b8038 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -14,11 +14,13 @@ // bsp #include "bsp_dwt.h" #include "bsp_log.h" +#include "string.h" 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 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 Chassis_Can_Comm chassis_can_send; 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 @@ -120,16 +122,17 @@ static void CalcOffsetAngle() * @brief 控制输入为遥控器(调试时)的模式和控制量设置 * */ +int aaaa; static void RemoteControlSet() { - memcpy(&rc_data->key_count, 0, sizeof(rc_data->key_count)); + memset(&rc_data->key_count, 0, sizeof(rc_data->key_count)); gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; // 云台参数,确定云台控制数据 gimbal_cmd_send.yaw -= 0.001f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.pitch -= 0.0006f * (float)rc_data[TEMP].rc.rocker_l1; - chassis_cmd_send.rotate_w = 0.0f; - + chassis_cmd_send.rotate_w = 0; + chassis_cmd_send.delta_leglen = 0.0f; // 摇杆控制的软件限位 gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE); @@ -152,16 +155,17 @@ static void RemoteControlSet() // 右侧开关状态为[下],底盘旋转 if (switch_is_down(rc_data[TEMP].rc.switch_right)) { - chassis_cmd_send.rotate_w = 4.0f; chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; if (abs(rc_data[TEMP].rc.rocker_r_) > 300) { chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; + chassis_cmd_send.rotate_w = 2; } if (abs(rc_data[TEMP].rc.rocker_r1) > 300) { chassis_cmd_send.chassis_mode = CHASSIS_ROTATE_REVERSE; + chassis_cmd_send.rotate_w = -2; } chassis_cmd_send.vx = 0; } @@ -174,7 +178,7 @@ static void RemoteControlSet() // 左侧开关状态为[中]，腿长控制 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.delta_leglen = -(abs(rc_data[TEMP].rc.dial) > 100 ? (int8_t)(rc_data[TEMP].rc.dial / 6) : 0); } // 摩擦轮控制,拨轮向上打为负,向下为正 @@ -194,7 +198,7 @@ static void RemoteControlSet() // 发射参数 shoot_cmd_send.bullet_speed = 30; - shoot_cmd_send.shoot_rate = 10; + shoot_cmd_send.shoot_rate = 15; } /** @@ -203,14 +207,14 @@ static void RemoteControlSet() */ static void MouseKeySet() { - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - + gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; //云台默认为陀螺仪模式 + shoot_cmd_send.shoot_mode = SHOOT_ON; gimbal_cmd_send.yaw -= (float)(rc_data[TEMP].mouse.x + rc_data[LAST].mouse.x) / 660.0f * 4.0f; // 系数待测 gimbal_cmd_send.pitch += (float)(rc_data[TEMP].mouse.y + rc_data[TEMP].mouse.y) / 660.0f * 4.0f; - gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE); + gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch, PITCH_MIN_ANGLE, PITCH_MAX_ANGLE); // 限制pitch角度 - if (chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW) + if (chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW) // 底盘速度输入 默认无前进轮速 { 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); } @@ -219,9 +223,10 @@ static void MouseKeySet() chassis_cmd_send.vx = 0; } - chassis_cmd_send.delta_leglen = (float)(rc_data[TEMP].key[KEY_PRESS].e - rc_data[TEMP].key[KEY_PRESS].c) * 0.001f; + chassis_cmd_send.delta_leglen = (rc_data[TEMP].key[KEY_PRESS].e - rc_data[TEMP].key[KEY_PRESS].c) * 10; // E C控制腿长 - if (rc_data[TEMP].key[KEY_PRESS].w || rc_data[TEMP].key[KEY_PRESS].s) + //wsad控制底盘方向 但会有额外速度输入 不使用 + if (rc_data[TEMP].key[KEY_PRESS].w || rc_data[TEMP].key[KEY_PRESS].s) { chassis_direction = CHASSIS_ALIGN; } @@ -229,7 +234,18 @@ static void MouseKeySet() { chassis_direction = CHASSIS_SIDLE; } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) + + // switch(rc_data[TEMP].key_count[KEY_PRESS][Key_X] % 2) // x键旋转 + // { + // case 0: + // chassis_direction = CHASSIS_ALIGN; + // break; + // case 1: + // chassis_direction = CHASSIS_SIDLE; + // break; + // } + + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 2) // B键开启底盘跟随云台 仅重置底盘后开启 { case 0: break; @@ -237,6 +253,7 @@ static void MouseKeySet() chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; break; } + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F 摩擦轮 { case 0: @@ -249,8 +266,18 @@ static void MouseKeySet() if (shoot_cmd_send.friction_mode == FRICTION_ON) { - if (rc_data[TEMP].mouse.press_l) + switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V 拨弹模式切换 + { + case 0: shoot_cmd_send.load_mode = LOAD_BURSTFIRE; + break; + case 1: + shoot_cmd_send.load_mode = LOAD_1_BULLET; + break; + } + if (rc_data[TEMP].mouse.press_l) // 鼠标左键发射 + { + } else shoot_cmd_send.load_mode = LOAD_STOP; } @@ -267,17 +294,21 @@ static void MouseKeySet() break; } - if (rc_data[TEMP].mouse.press_r) + if (rc_data[TEMP].mouse.press_r) // 鼠标右键视觉模式 { 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); } - if (rc_data[TEMP].key[KEY_PRESS].q) + if (rc_data[TEMP].key[KEY_PRESS].q) // Q键底盘旋转 { chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - chassis_cmd_send.rotate_w = 6.0f; + chassis_cmd_send.rotate_w = 6; } - if (rc_data[TEMP].key[KEY_PRESS].r) + else{ + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + } + + if (rc_data[TEMP].key[KEY_PRESS].r) // R键底盘复位 { chassis_cmd_send.chassis_mode = CHASSIS_RESET; } @@ -319,7 +350,8 @@ static void EmergencyHandler() switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C] % 2) // ctrl+c 进入急停 { case 0: - + // 没按保持源状态不变 + // 云台会先自动恢复 break; default: @@ -336,6 +368,7 @@ static void EmergencyHandler() } } } +static uint8_t can_comm_cnt = 0; /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ void RobotCMDTask() { @@ -358,9 +391,23 @@ void RobotCMDTask() // UI数据 chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode; chassis_cmd_send.loader_mode = shoot_cmd_send.load_mode; + // 临时写法,chassis_can_send只在以下行代码中使用,后续修改 + // chassis_can_send.vx = chassis_cmd_send.vx; + // chassis_can_send.offset_angle = chassis_cmd_send.offset_angle; + // chassis_can_send.delta_leglen = chassis_cmd_send.delta_leglen; + // chassis_can_send.can_comm.chassis_direction_e = chassis_cmd_send.direction; + // chassis_can_send.can_comm.chassis_mode = chassis_cmd_send.chassis_mode; + // chassis_can_send.can_comm.friction_mode_e = chassis_cmd_send.friction_mode; + // chassis_can_send.can_comm.loader_mode = chassis_cmd_send.loader_mode; + // chassis_can_send.can_comm.ui_mode = chassis_cmd_send.ui_mode; + // chassis_can_send.can_comm.vision_mode = chassis_cmd_send.vision_mode; - CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send); - + can_comm_cnt++; + if (can_comm_cnt % 2 == 0) + { + CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send); + can_comm_cnt = 0; + } PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send); } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index a809443..ebb94ae 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -135,7 +135,7 @@ 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); diff --git a/application/robot_def.h b/application/robot_def.h index 3250ef8..2f4c4db 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -34,7 +34,7 @@ #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 75 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 +#define ONE_BULLET_DELTA_ANGLE 30 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 #define REDUCTION_RATIO_LOADER 36.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f #define NUM_PER_CIRCLE 12 // 拨盘一圈的装载量 #define LOAD_RATIO 2.5f // 中心供弹需要机械减速比 @@ -159,8 +159,8 @@ typedef struct { // 控制部分 float vx; // 前进方向速度 - float rotate_w; // 旋转速度, 目前仅在复位模式下使用 - float delta_leglen; // 腿长 + int8_t rotate_w; // 旋转速度, 目前仅在复位模式下使用 + int8_t delta_leglen; // 腿长 float offset_angle; // 底盘和归中位置的夹角 chassis_mode_e chassis_mode; chassis_direction_e direction; @@ -171,8 +171,28 @@ typedef struct vision_mode_e vision_mode; // 视觉状态 ui_mode_e ui_mode; // UI状态 loader_mode_e loader_mode; // 拨盘状态 - } Chassis_Ctrl_Cmd_s; +typedef union +{ + struct // 用于访问键盘状态 + { + uint16_t chassis_mode : 3; + uint16_t chassis_direction_e : 1; + uint16_t friction_mode_e : 1; + uint16_t vision_mode : 2; + uint16_t ui_mode : 1; + uint16_t loader_mode : 3; + uint16_t w_speed_buf : 2; + }; + uint16_t can_com; +} Can_Comm_s; +typedef struct +{ + float vx ; + int8_t delta_leglen; + int16_t offset_angle; + Can_Comm_s can_comm; +}Chassis_Can_Comm; // cmd发布的云台控制数据,由gimbal订阅 typedef struct diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 9416679..d8e6037 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -70,7 +70,7 @@ void ShootInit() .controller_param_init_config = { .angle_PID = { // 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降 - .Kp = 10,//10 + .Kp = 15,//10 .Ki = 0, .Kd = 0, .MaxOut = 20000, @@ -167,7 +167,7 @@ void ShootTask() break; // 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射) case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用. - load_angle_set = loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE; + load_angle_set = loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE*REDUCTION_RATIO_LOADER*LOAD_RATIO; DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环 DJIMotorSetRef(loader, load_angle_set); // 控制量增加一发弹丸的角度 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 @@ -175,11 +175,11 @@ void ShootTask() break; // 三连发,如果不需要后续可能删除 case LOAD_3_BULLET: - load_angle_set = loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE * 3; + load_angle_set = loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE*REDUCTION_RATIO_LOADER*LOAD_RATIO; DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到速度环 DJIMotorSetRef(loader, load_angle_set); // 增加3发 hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间 - dead_time = 1800; // 完成3发弹丸发射的时间 + dead_time = 1000; // 完成3发弹丸发射的时间 break; // 连发模式,对速度闭环,射频后续修改为可变,目前固定为1Hz case LOAD_BURSTFIRE: diff --git a/modules/can_comm/can_comm.c b/modules/can_comm/can_comm.c index bb39c59..23c1bf7 100644 --- a/modules/can_comm/can_comm.c +++ b/modules/can_comm/can_comm.c @@ -118,7 +118,7 @@ void CANCommSend(CANCommInstance *instance, uint8_t *data) send_len = instance->send_buf_len - i >= 8 ? 8 : instance->send_buf_len - i; CANSetDLC(instance->can_ins, send_len); memcpy(instance->can_ins->tx_buff, instance->raw_sendbuf + i, send_len); - CANTransmit(instance->can_ins, 1); + CANTransmit(instance->can_ins, 0.5); } } diff --git a/modules/motor/DJImotor/dji_motor.c b/modules/motor/DJImotor/dji_motor.c index bc215d4..58765ff 100644 --- a/modules/motor/DJImotor/dji_motor.c +++ b/modules/motor/DJImotor/dji_motor.c @@ -254,7 +254,7 @@ void DJIMotorControl() // pid_ref会顺次通过被启用的闭环充当数据的载体 // 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出 - if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP) + if (motor_setting->outer_loop_type == ANGLE_LOOP) { if (motor_setting->angle_feedback_source == OTHER_FEED) pid_measure = *motor_controller->other_angle_feedback_ptr; @@ -308,7 +308,7 @@ void DJIMotorControl() { if (sender_enable_flag[i]) { - CANTransmit(&sender_assignment[i], 1); + CANTransmit(&sender_assignment[i], 0.5); } } } diff --git a/modules/motor/motor_task.c b/modules/motor/motor_task.c index f727257..4f28710 100644 --- a/modules/motor/motor_task.c +++ b/modules/motor/motor_task.c @@ -8,25 +8,20 @@ #include "robot_def.h" void MotorControlTask() { - // static uint8_t cnt = 0; 设定不同电机的任务频率 - // if(cnt%5==0) //200hz - // if(cnt%10==0) //100hz - #ifdef GIMBAL_BOARD +#ifdef GIMBAL_BOARD + static uint8_t cnt = 0; + // 设定不同电机的任务频率 + if (cnt % 2 == 0) // 500hz + { DJIMotorControl(); - #endif // DEBUG - #ifdef CHASSIS_BOARD - LKMotorControl(); - #endif // DEBUG + cnt = 0; + } + cnt++; - /* 如果有对应的电机则取消注释,可以加入条件编译或者register对应的idx判断是否注册了电机 */ - //LKMotorControl(); +#endif // DEBUG +#ifdef CHASSIS_BOARD + LKMotorControl(); +#endif // DEBUG - // legacy support - // 由于ht04电机的反馈方式为接收到一帧消息后立刻回传,以此方式连续发送可能导致总线拥塞 - // 为了保证高频率控制,HTMotor中提供了以任务方式启动控制的接口,可通过宏定义切换 - // HTMotorControl(); - // 将所有的CAN设备集中在一处发送,最高反馈频率仅能达到500Hz,为了更好的控制效果,应使用新的HTMotorControlInit()接口 - - // StepMotorControl(); } diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 4035304..930ff2f 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -9,7 +9,7 @@ #define REMOTE_CONTROL_FRAME_SIZE 18u // 遥控器接收的buffer大小 // 遥控器数据 -static RC_ctrl_t rc_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 +static RC_ctrl_t rc_ctrl[2] = {0}; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断 static uint8_t rc_init_flag = 0; // 遥控器初始化标志位 // 遥控器拥有的串口实例,因为遥控器是单例,所以这里只有一个,就不封装了