TuxMonkey/half-steering-basic-framework
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/half-steering-basic-framework synced 2026-10-23 17:42:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

1V1用

Browse Source
This commit is contained in:
guoxy06
2026-04-04 12:00:10 +08:00
parent c471f1b196
commit 0029810204
4 changed files with 34 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
application/chassis/chassis.c
View File

@@ -412,11 +412,11 @@ void ChassisTask()
{
single_round_offset += 360.0f;
}
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/100;
chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, single_round_offset, 0)/90;
// chassis_cmd_recv.wz = PIDCalculate(&chassis_follow_pid, chassis_cmd_recv.offset_angle, 0)/100;
break;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略
chassis_cmd_recv.wz = 0.5;
case CHASSIS_ROTATE: // 自旋,同时保持全向机动;当前wz维持定值,后续增加不规则的变速策略。
chassis_cmd_recv.wz = 0.75;
break;
default:
break;

47
application/cmd/robot_cmd.c
View File

@@ -246,7 +246,7 @@ static void RemoteControlSet()
static void MouseKeySet()
{
// // G键控制机器人等级，每次按G键等级+1，最高10级
// // G键控制机器人等级，每次按G键等级+1，最高10级/
// if (rc_data[TEMP].key[KEY_PRESS].g && rc_data[TEMP].key_count[KEY_PRESS][Key_G] > 0) {
// robot_level = (robot_level % 10) + 1; // 等级循环增加，1-10
// }
@@ -264,27 +264,28 @@ static void MouseKeySet()
// 将robot_level传递给底盘控制命令
chassis_cmd_send.robot_level = robot_level;
switch (robot_level)
{
case 1:
case 2:
case 3:
chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 20 - rc_data[TEMP].key[KEY_PRESS].d * 20); // w向前，s向后
chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 20 - rc_data[TEMP].key[KEY_PRESS].s * 20); // a向左，d向右
break;
case 4:
case 5:
case 6:
case 7:
chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 30 - rc_data[TEMP].key[KEY_PRESS].d * 30); // w向前，s向后
chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 30 - rc_data[TEMP].key[KEY_PRESS].s * 30); // a向左，d向右
break;
default:
chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40); // w向前，s向后
chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40); // a向左，d向右
break;
}
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 42 - rc_data[TEMP].key[KEY_PRESS].d * 42; // w向前，s向后
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 42 - rc_data[TEMP].key[KEY_PRESS].s * 42; // a向左，d向右
// switch (robot_level)
// {
// case 1:
// case 2:
// case 3:
// chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 20 - rc_data[TEMP].key[KEY_PRESS].d * 20); // w向前，s向后
// chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 20 - rc_data[TEMP].key[KEY_PRESS].s * 20); // a向左，d向右
// break;
// case 4:
// case 5:
// case 6:
// case 7:
// chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 30 - rc_data[TEMP].key[KEY_PRESS].d * 30); // w向前，s向后
// chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 30 - rc_data[TEMP].key[KEY_PRESS].s * 30); // a向左，d向右
// break;
// default:
// chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 40 - rc_data[TEMP].key[KEY_PRESS].d * 40); // w向前，s向后
// chassis_cmd_send.vy = (rc_data[TEMP].key[KEY_PRESS].w * 40 - rc_data[TEMP].key[KEY_PRESS].s * 40); // a向左，d向右
// break;
// }
// 根据等级设置底盘速度
// if (robot_level >= 1 && robot_level <= 3) {
// chassis_cmd_send.vx = (rc_data[TEMP].key[KEY_PRESS].a * 20 - rc_data[TEMP].key[KEY_PRESS].d * 20); // w向前，s向后
@@ -357,7 +358,7 @@ static void MouseKeySet()
// break;
// }
if (rc_data[TEMP].mouse.press_l) {
shoot_cmd_send.load_mode = LOAD_1_BULLET; // 左键单发
shoot_cmd_send.load_mode = LOAD_BURSTFIRE; // 左键单发
} else if (rc_data[TEMP].mouse.press_r) {
shoot_cmd_send.load_mode = LOAD_3_BULLET; // 右键三连发
} else {

8
application/gimbal/gimbal.c
View File

@@ -85,9 +85,9 @@ void GimbalInit()
// },
.controller_param_init_config = {
.angle_PID = {
.Kp = 1.00, //0.90
.Kp = 1, //0.90
.Ki = 0.05,//0.05
.Kd = 0.02,//0.02
.Kd = 0.03,//0.02
.CoefA =0.5,//0.5
.CoefB = 0.6,//0.6
.Output_LPF_RC = 0.01,
@@ -98,8 +98,8 @@ void GimbalInit()
.MaxOut = 600,
},
.speed_PID = {
.Kp = 500,//22000
.Ki = 0,//
.Kp = 800,//22000
.Ki = 0.05,//
.Kd =0.0005,
// .CoefA = 0.8,
// .CoefB = 0.1,

6
modules/referee/referee_task.c
View File

@@ -66,15 +66,15 @@ void MyUIInit()
while (referee_recv_info->GameRobotState.robot_id == 0)
osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
DeterminRobotID(); // 确定ui要发送到的目标客户端
DeterminRobotID(); // 确定ui要发送到的目标客户端.
UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
// 绘制发射基准线
UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
//UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 860, 475, 1060, 475);
UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
//UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
// 绘制车辆状态标志指示