From d4d0d0ac5426cfacf2dadd0e3d6914046dbda00a Mon Sep 17 00:00:00 2001 From: kai <1797003616@qq.com> Date: Mon, 29 Apr 2024 11:38:32 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E8=A3=81=E5=88=A4=E7=B3=BB?= =?UTF-8?q?=E7=BB=9F=E4=B8=B2=E5=8F=A3=EF=BC=8C=E4=BF=AE=E5=A4=8D=E5=85=B3?= =?UTF-8?q?=E8=8A=82=E5=A4=8D=E4=BD=8Dbug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/balance.c | 18 ++++--- application/chassis/balance.h | 2 +- modules/referee/referee_protocol.h | 82 +++++++++++++++--------------- 3 files changed, 52 insertions(+), 50 deletions(-) diff --git a/application/chassis/balance.c b/application/chassis/balance.c index caf46ea..d7a4c81 100644 --- a/application/chassis/balance.c +++ b/application/chassis/balance.c @@ -45,11 +45,14 @@ static PIDInstance anti_crash_pid; // 抗劈叉,将输出以相 // 底盘状态 static Robot_Status_e chassis_status; +static referee_info_t* referee_data; // 用于获取裁判系统的数据 +static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI void BalanceInit() { rc_data = RemoteControlInit(&huart3); Chassis_IMU_data = INS_Init(); + referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI // 关节电机 Motor_Init_Config_s joint_conf = { @@ -197,7 +200,7 @@ static void ControlSwitch() else { chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后 - chassis_cmd_recv.vx = 0.004 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s + chassis_cmd_recv.vx = 0.003 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s chassis_cmd_recv.delta_leglen = -0.000001f * (float)rc_data[TEMP].rc.dial; chassis_cmd_recv.offset_angle -= 0.000005 * (float)rc_data[TEMP].rc.rocker_r_; } @@ -219,14 +222,14 @@ 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 * 2); - LKMotorSetRef(r_driven, -chassis_cmd_recv.vx * 2); + LKMotorSetRef(l_driven, chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w); + LKMotorSetRef(r_driven, -chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w); // 若关节完成复位,进入ready态 - if (abs(lf->measure.total_angle) < 0.05 && abs(lf->measure.total_angle) > 0.03 && - abs(lb->measure.total_angle) < 0.05 && abs(lb->measure.total_angle) > 0.03 && - abs(rf->measure.total_angle) < 0.05 && abs(rf->measure.total_angle) > 0.03 && - abs(rb->measure.total_angle) < 0.05 && abs(rb->measure.total_angle) > 0.03) + if (abs(lf->measure.total_angle) < 0.05 && + abs(lb->measure.total_angle) < 0.05 && + abs(rf->measure.total_angle) < 0.05 && + abs(rb->measure.total_angle) < 0.05) { chassis_status = ROBOT_READY; // 底盘已经准备好重新站立 } @@ -303,7 +306,6 @@ static void WokingStateSet() // TODO 最大dist误差限幅 // TODO 最大速度误差限幅 - } diff --git a/application/chassis/balance.h b/application/chassis/balance.h index f54e9a2..a03b3ef 100644 --- a/application/chassis/balance.h +++ b/application/chassis/balance.h @@ -8,7 +8,7 @@ #define LIMIT_LINK_RAD 0.220039368 // 初始限位角度,见ParamAssemble #define BALANCE_GRAVITY_BIAS 0 #define ROLL_GRAVITY_BIAS 0 -#define MAX_ACC_REF 0.8f +#define MAX_ACC_REF 0.9f #define MAX_DIST_TRACK 1.0f #define MAX_VEL_TRACK 0.5f diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h index 22416b3..3d7e908 100644 --- a/modules/referee/referee_protocol.h +++ b/modules/referee/referee_protocol.h @@ -88,16 +88,16 @@ typedef enum /* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */ typedef enum { - LEN_game_state = 3, // 0x0001 + LEN_game_state = 11, // 0x0001 LEN_game_result = 1, // 0x0002 - LEN_game_robot_HP = 2, // 0x0003 + LEN_game_robot_HP = 32, // 0x0003 LEN_event_data = 4, // 0x0101 LEN_supply_projectile_action = 4, // 0x0102 - LEN_game_robot_state = 27, // 0x0201 - LEN_power_heat_data = 14, // 0x0202 + LEN_game_robot_state = 13, // 0x0201 + LEN_power_heat_data = 16, // 0x0202 LEN_game_robot_pos = 16, // 0x0203 - LEN_buff_musk = 1, // 0x0204 - LEN_aerial_robot_energy = 1, // 0x0205 + LEN_buff_musk = 6, // 0x0204 + LEN_aerial_robot_energy = 2, // 0x0205 LEN_robot_hurt = 1, // 0x0206 LEN_shoot_data = 7, // 0x0207 LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301 @@ -107,12 +107,13 @@ typedef enum /****************************接收数据的详细说明****************************/ /****************************接收数据的详细说明****************************/ -/* ID: 0x0001 Byte: 3 比赛状态数据 */ -typedef struct -{ - uint8_t game_type : 4; - uint8_t game_progress : 4; - uint16_t stage_remain_time; +/* ID: 0x0001 Byte: 11 比赛状态数据 */ +typedef struct +{ + uint8_t game_type : 4; + uint8_t game_progress : 4; + uint16_t stage_remain_time; + uint64_t SyncTimeStamp; } ext_game_state_t; /* ID: 0x0002 Byte: 1 比赛结果数据 */ @@ -157,37 +158,31 @@ typedef struct uint8_t supply_projectile_num; } ext_supply_projectile_action_t; -/* ID: 0X0201 Byte: 27 机器人状态数据 */ +/* ID: 0X0201 Byte: 13 机器人状态数据 */ typedef struct { - uint8_t robot_id; - uint8_t robot_level; - uint16_t remain_HP; - uint16_t max_HP; - uint16_t shooter_id1_17mm_cooling_rate; - uint16_t shooter_id1_17mm_cooling_limit; - uint16_t shooter_id1_17mm_speed_limit; - uint16_t shooter_id2_17mm_cooling_rate; - uint16_t shooter_id2_17mm_cooling_limit; - uint16_t shooter_id2_17mm_speed_limit; - uint16_t shooter_id1_42mm_cooling_rate; - uint16_t shooter_id1_42mm_cooling_limit; - uint16_t shooter_id1_42mm_speed_limit; - uint16_t chassis_power_limit; - uint8_t mains_power_gimbal_output : 1; - uint8_t mains_power_chassis_output : 1; - uint8_t mains_power_shooter_output : 1; + uint8_t robot_id; + uint8_t robot_level; + uint16_t current_HP; + uint16_t maximum_HP; + uint16_t shooter_barrel_cooling_value; + uint16_t shooter_barrel_heat_limit; + uint16_t chassis_power_limit; + uint8_t power_management_gimbal_output : 1; + uint8_t power_management_chassis_output : 1; + uint8_t power_management_shooter_output : 1; } ext_game_robot_state_t; -/* ID: 0X0202 Byte: 14 实时功率热量数据 */ +/* ID: 0X0202 Byte: 16 实时功率热量数据 */ typedef struct { - uint16_t chassis_volt; - uint16_t chassis_current; - float chassis_power; // 瞬时功率 - uint16_t chassis_power_buffer; // 60焦耳缓冲能量 - uint16_t shooter_heat0; // 17mm - uint16_t shooter_heat1; + uint16_t chassis_voltage; + uint16_t chassis_current; + float chassis_power; + uint16_t buffer_energy; + uint16_t shooter_17mm_1_barrel_heat; + uint16_t shooter_17mm_2_barrel_heat; + uint16_t shooter_42mm_barrel_heat; } ext_power_heat_data_t; /* ID: 0x0203 Byte: 16 机器人位置数据 */ @@ -199,16 +194,21 @@ typedef struct float yaw; } ext_game_robot_pos_t; -/* ID: 0x0204 Byte: 1 机器人增益数据 */ +/* ID: 0x0204 Byte: 6 机器人增益数据 */ typedef struct { - uint8_t power_rune_buff; + uint8_t recovery_buff; + uint8_t cooling_buff; + uint8_t defence_buff; + uint8_t vulnerability_buff; + uint16_t attack_buff; } ext_buff_musk_t; -/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */ +/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */ typedef struct { - uint8_t attack_time; + uint8_t airforce_status; + uint8_t time_remain; } aerial_robot_energy_t; /* ID: 0x0206 Byte: 1 伤害状态数据 */