TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

24对抗赛

Browse Source
This commit is contained in:
chenfu
2024-06-01 00:11:37 +08:00
parent da591dcfb4
commit c1ab3edf88
11 changed files with 136 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files

89
application/cmd/robot_cmd.c
View File

@@ -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);
}