TuxMonkey/bf_original_balance_chassis
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b3da53745d1692a3998d604b40d849adcab4dd51
bf_original_balance_chassis/application/cmd/robot_cmd.c
TuxMonkey b3da53745d 能动了！（小板凳）但是还是很抖
2026-07-15 13:40:54 +08:00

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// app
#include "robot_def.h"
#include "robot_cmd.h"
// module
#include "remote_control.h"
#include "ins_task.h"
#include "master_process.h"
#include "message_center.h"
#include "general_def.h"
#include "dji_motor.h"
#include "bmi088.h"
#include "user_lib.h"
#include "can_comm.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"
#include "string.h"
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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
static Vision_Send_s vision_send_data; // 视觉发送数据
static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
static Robot_Status_e robot_state; // 机器人整体工作状态
static CANCommInstance *cmd_can_comm; // 底盘CAN通信实例
static chassis_direction_e chassis_direction; // 底盘方向
void RobotCMDInit()
{
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
CANComm_Init_Config_s comm_conf = {
.can_config = {
.can_handle = &hcan1,
.tx_id = 0x312,
.rx_id = 0x311,
},
.recv_data_len = sizeof(Chassis_Upload_Data_s),
.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
};
cmd_can_comm = CANCommInit(&comm_conf);
gimbal_cmd_send.pitch = 0;
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;
chassis_direction = CHASSIS_ALIGN;
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
}
/**
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
* 单圈绝对角度的范围是0~360,说明文档中有图示
*
*/
static void CalcOffsetAngle()
{
// @todo:相差一整圈时会出问题，待修复
// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
uint16_t yaw_chassis_align_ecd;
if (chassis_direction == CHASSIS_ALIGN)
{
yaw_chassis_align_ecd = 2716;
}
else if (chassis_direction == CHASSIS_SIDLE)
{
yaw_chassis_align_ecd = 765;
}
static float angle, yaw_align_angle;
yaw_align_angle = yaw_chassis_align_ecd * ECD_ANGLE_COEF_DJI; // 从底盘获取的yaw电机对齐角度
angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
if (yaw_chassis_align_ecd > 4096) // 如果大于180度
{
if (angle > yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else if (angle <= yaw_align_angle && angle >= yaw_align_angle - 180.0f)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else
chassis_cmd_send.offset_angle = angle - yaw_align_angle + 360.0f;
}
else
{ // 小于180度
if (angle > yaw_align_angle && angle <= 180.0f + yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
else if (angle > 180.0f + yaw_align_angle)
chassis_cmd_send.offset_angle = angle - yaw_align_angle - 360.0f;
else
chassis_cmd_send.offset_angle = angle - yaw_align_angle;
}
}
/**
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
*
*/
static void RemoteControlSet()
{
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;
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);
if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[下],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);
}
// 底盘参数
if (abs(rc_data[TEMP].rc.rocker_r1) > 500)
{
chassis_direction = CHASSIS_ALIGN;
}
else if (abs(rc_data[TEMP].rc.rocker_r_) > 500)
{
chassis_direction = CHASSIS_SIDLE;
}
// 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.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;
// }
// else
// {
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
chassis_cmd_send.vx = 0.003f * (-(float)rc_data[TEMP].rc.rocker_r_ + (float)rc_data[TEMP].rc.rocker_r1);
// }
// 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 = -(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
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
shoot_cmd_send.friction_mode = FRICTION_OFF;
// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
if (rc_data[TEMP].rc.dial < -400)
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
else
shoot_cmd_send.load_mode = LOAD_STOP;
}
// 发射参数
shoot_cmd_send.bullet_speed = 30;
shoot_cmd_send.shoot_rate = 15;
}
/**
* @brief 输入为键鼠时模式和控制量设置
*
*/
static void MouseKeySet()
{
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); // 限制pitch角度
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);
}
else if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
{
chassis_cmd_send.vx = 0;
}
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
//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;
}
else if (rc_data[TEMP].key[KEY_PRESS].a || rc_data[TEMP].key[KEY_PRESS].d)
{
chassis_direction = CHASSIS_SIDLE;
}
// 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;
case 1:
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:
shoot_cmd_send.friction_mode = FRICTION_OFF;
break;
default:
shoot_cmd_send.friction_mode = FRICTION_ON;
break;
}
if (shoot_cmd_send.friction_mode == FRICTION_ON)
{
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;
}
else
shoot_cmd_send.load_mode = LOAD_STOP;
switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键刷新UI
{
case 0:
chassis_cmd_send.ui_mode = UI_KEEP;
break;
default:
chassis_cmd_send.ui_mode = UI_REFRESH;
break;
}
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) // Q键底盘旋转
{
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
chassis_cmd_send.rotate_w = 6;
}
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;
}
}
/**
* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
* 停止的阈值'300'待修改成合适的值,或改为开关控制.
*
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
*
*/
static void EmergencyHandler()
{
// 获取遥控器在线状态 (1:在线 0:离线)
uint8_t rc_online = RemoteControlIsOnline();
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]或[中]
{
// 急停触发条件：遥控器离线或者右侧开关打到[下]
if (!rc_online || switch_is_down(rc_data[TEMP].rc.switch_right))
{
robot_state = ROBOT_STOP;
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; // 底盘电流归零，无力化
shoot_cmd_send.shoot_mode = SHOOT_OFF;
shoot_cmd_send.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步
gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
}
// 恢复正常运行条件：遥控器在线且右侧开关状态为[上]或[中]
else if (switch_is_up(rc_data[TEMP].rc.switch_right) || switch_is_mid(rc_data[TEMP].rc.switch_right))
{
robot_state = ROBOT_READY;
shoot_cmd_send.shoot_mode = SHOOT_ON;
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
}
}
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
{
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:
robot_state = ROBOT_STOP;
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.friction_mode = FRICTION_OFF;
shoot_cmd_send.load_mode = LOAD_STOP;
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转
gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch;
break;
}
}
}
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()
{
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
CalcOffsetAngle();
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
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
RemoteControlSet();
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
MouseKeySet();
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
chassis_cmd_send.direction = chassis_direction;
// 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;
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);
}
#endif
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