TuxMonkey/bf_original_balance_chassis
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添加裁判系统串口，修复关节复位bug

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This commit is contained in:
kai
2024-04-29 11:38:32 +08:00
parent 8fc322fd51
commit d4d0d0ac54
3 changed files with 52 additions and 50 deletions
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18
application/chassis/balance.c
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@@ -45,11 +45,14 @@ static PIDInstance anti_crash_pid; // 抗劈叉,将输出以相
// 底盘状态 // 底盘状态
static Robot_Status_e chassis_status; 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() void BalanceInit()
{ {
rc_data = RemoteControlInit(&huart3); rc_data = RemoteControlInit(&huart3);
Chassis_IMU_data = INS_Init(); 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 // 关节电机
Motor_Init_Config_s joint_conf = { Motor_Init_Config_s joint_conf = {
@@ -197,7 +200,7 @@ static void ControlSwitch()
else else
{ {
chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG; // 自由转动&前后 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.delta_leglen = -0.000001f * (float)rc_data[TEMP].rc.dial;
chassis_cmd_recv.offset_angle -= 0.000005 * (float)rc_data[TEMP].rc.rocker_r_; 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; 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 // 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(l_driven, chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w);
LKMotorSetRef(r_driven, -chassis_cmd_recv.vx * 2); LKMotorSetRef(r_driven, -chassis_cmd_recv.vx + chassis_cmd_recv.rotate_w);
// 若关节完成复位,进入ready态 // 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 && if (abs(lf->measure.total_angle) < 0.05 &&
abs(lb->measure.total_angle) < 0.05 && abs(lb->measure.total_angle) > 0.03 && abs(lb->measure.total_angle) < 0.05 &&
abs(rf->measure.total_angle) < 0.05 && abs(rf->measure.total_angle) > 0.03 && abs(rf->measure.total_angle) < 0.05 &&
abs(rb->measure.total_angle) < 0.05 && abs(rb->measure.total_angle) > 0.03) abs(rb->measure.total_angle) < 0.05)
{ {
chassis_status = ROBOT_READY; // 底盘已经准备好重新站立 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dist误差限幅
// TODO 最大速度误差限幅 // TODO 最大速度误差限幅
} }

2
application/chassis/balance.h
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@@ -8,7 +8,7 @@
#define LIMIT_LINK_RAD 0.220039368 // 初始限位角度,见ParamAssemble #define LIMIT_LINK_RAD 0.220039368 // 初始限位角度,见ParamAssemble
#define BALANCE_GRAVITY_BIAS 0 #define BALANCE_GRAVITY_BIAS 0
#define ROLL_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_DIST_TRACK 1.0f
#define MAX_VEL_TRACK 0.5f #define MAX_VEL_TRACK 0.5f

82
modules/referee/referee_protocol.h
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@@ -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 */ /* 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 typedef enum
{ {
LEN_game_state = 3, // 0x0001 LEN_game_state = 11, // 0x0001
LEN_game_result = 1, // 0x0002 LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003 LEN_game_robot_HP = 32, // 0x0003
LEN_event_data = 4, // 0x0101 LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102 LEN_supply_projectile_action = 4, // 0x0102
LEN_game_robot_state = 27, // 0x0201 LEN_game_robot_state = 13, // 0x0201
LEN_power_heat_data = 14, // 0x0202 LEN_power_heat_data = 16, // 0x0202
LEN_game_robot_pos = 16, // 0x0203 LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204 LEN_buff_musk = 6, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205 LEN_aerial_robot_energy = 2, // 0x0205
LEN_robot_hurt = 1, // 0x0206 LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207 LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301 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****************************/
/****************************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 */ /* ID: 0x0001 Byte: 11 比赛状态数据 */
typedef struct typedef struct
{ {
uint8_t game_type : 4; uint8_t game_type : 4;
uint8_t game_progress : 4; uint8_t game_progress : 4;
uint16_t stage_remain_time; uint16_t stage_remain_time;
uint64_t SyncTimeStamp;
} ext_game_state_t; } ext_game_state_t;
/* ID: 0x0002 Byte: 1 比赛结果数据 */ /* ID: 0x0002 Byte: 1 比赛结果数据 */
@@ -157,37 +158,31 @@ typedef struct
uint8_t supply_projectile_num; uint8_t supply_projectile_num;
} ext_supply_projectile_action_t; } 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 typedef struct
{ {
uint8_t robot_id; uint8_t robot_id;
uint8_t robot_level; uint8_t robot_level;
uint16_t remain_HP; uint16_t current_HP;
uint16_t max_HP; uint16_t maximum_HP;
uint16_t shooter_id1_17mm_cooling_rate; uint16_t shooter_barrel_cooling_value;
uint16_t shooter_id1_17mm_cooling_limit; uint16_t shooter_barrel_heat_limit;
uint16_t shooter_id1_17mm_speed_limit; uint16_t chassis_power_limit;
uint16_t shooter_id2_17mm_cooling_rate; uint8_t power_management_gimbal_output : 1;
uint16_t shooter_id2_17mm_cooling_limit; uint8_t power_management_chassis_output : 1;
uint16_t shooter_id2_17mm_speed_limit; uint8_t power_management_shooter_output : 1;
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;
} ext_game_robot_state_t; } 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 typedef struct
{ {
uint16_t chassis_volt; uint16_t chassis_voltage;
uint16_t chassis_current; uint16_t chassis_current;
float chassis_power; // 瞬时功率 float chassis_power;
uint16_t chassis_power_buffer; // 60焦耳缓冲能量 uint16_t buffer_energy;
uint16_t shooter_heat0; // 17mm uint16_t shooter_17mm_1_barrel_heat;
uint16_t shooter_heat1; uint16_t shooter_17mm_2_barrel_heat;
uint16_t shooter_42mm_barrel_heat;
} ext_power_heat_data_t; } ext_power_heat_data_t;
/* ID: 0x0203 Byte: 16 机器人位置数据 */ /* ID: 0x0203 Byte: 16 机器人位置数据 */
@@ -199,16 +194,21 @@ typedef struct
float yaw; float yaw;
} ext_game_robot_pos_t; } 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 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; } 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 typedef struct
{ {
uint8_t attack_time; uint8_t airforce_status;
uint8_t time_remain;
} aerial_robot_energy_t; } aerial_robot_energy_t;
/* ID: 0x0206 Byte: 1 伤害状态数据 */ /* ID: 0x0206 Byte: 1 伤害状态数据 */