diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f7fc41..163f8fc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -12,7 +12,7 @@ set(CMAKE_OBJCOPY arm-none-eabi-objcopy) set(CMAKE_OBJDUMP arm-none-eabi-objdump) set(SIZE arm-none-eabi-size) set(CMAKE_AR arm-none-eabi-ar) -set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD 23) set(CMAKE_EXPORT_COMPILE_COMMANDS ON) # 指定工程名称和语言类型 diff --git a/README.md b/README.md index 9032354..da2bafe 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# YueLu2022/2023 EC basic_framework-dev +# basic_framework-dev 湖南大学RoboMaster跃鹿战队2022-2023电控通用嵌入式框架。 diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 41b6e10..b241cd0 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -56,15 +56,15 @@ 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 static SuperCapInstance *cap; // 超级电容 -static LKMotorInstance *motor_lf,*motor_rb; // 轮电机9015 -static DJIMotorInstance *motor_steering_lf,*motor_steering_rb; // 舵电机6020 +static LKMotorInstance *motor_lb,*motor_rf; // 轮电机9015 +static DJIMotorInstance *motor_steering_lb,*motor_steering_rf; // 舵电机6020 /* 用于自旋变速策略的时间变量 */ // static float t; /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */ static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘 -static float vt_lf, vt_rb; // 底盘速度解算后的临时输出,待进行限幅 -static float at_lf, at_rb; // 底盘的角度解算后的临时输出,待进行限幅 +static float vt_lb, vt_rf; // 底盘速度解算后的临时输出,待进行限幅 +static float at_lb, at_rf; // 底盘的角度解算后的临时输出,待进行限幅 static PIDInstance chassis_follow_pid; // 底盘跟随云台的PID void ChassisInit() @@ -102,11 +102,11 @@ void ChassisInit() chassis_motor_config.can_init_config.tx_id = 1; // chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_rb = LKMotorInit(&chassis_motor_config); + motor_rf = LKMotorInit(&chassis_motor_config); chassis_motor_config.can_init_config.tx_id = 2; // chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; - motor_lf = LKMotorInit(&chassis_motor_config); + motor_lb = LKMotorInit(&chassis_motor_config); // 舵电机6020初始化 Motor_Init_Config_s chassis_motor_steering_config = { @@ -145,16 +145,16 @@ void ChassisInit() }; chassis_motor_steering_config.can_init_config.tx_id = 1; - motor_steering_rb = DJIMotorInit(&chassis_motor_steering_config); + motor_steering_rf = DJIMotorInit(&chassis_motor_steering_config); chassis_motor_steering_config.can_init_config.tx_id = 2; - motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config); + motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); PID_Init_Config_s chassis_follow_pid_conf = { - .Kp = 20, // 6 + .Kp = 1.05, // 6 .Ki = 0, - .Kd = 3, // 0.5 - .DeadBand = 0.5f, + .Kd = 0.1, // 0.495 + .DeadBand = 0.5f,// 启用死区，值为0.5度 //.CoefA = 0.2, //.CoefB = 0.3, //.Improve = PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_DerivativeFilter | PID_Derivative_On_Measurement | PID_Integral_Limit | PID_Derivative_On_Measurement, @@ -232,7 +232,7 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) while (norm_rotation < -180.0f) { norm_rotation += 360.0f; } - float threshold = 90.0f; + float threshold = 110.0f; float target_single=fmodf(target_angle,360.0f); if(target_single<0.0f) target_single+=360.0f; @@ -240,16 +240,16 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) if(current_single<0.0f) current_single+=360.0f; - if (fabsf(norm_rotation) > threshold) { - int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f); + if (norm_rotation > threshold) { + int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f); *angle = actual_angle + norm_rotation-180.0f+round_diff*360.0f; *speed = -(*speed); }else if(norm_rotation<-threshold){ - int32_t round_diff = (int32_t)(target_angle / 360.0f) - (int32_t)(actual_angle / 360.0f); + int32_t round_diff = (int32_t)((target_angle-actual_angle) / 360.0f); *angle = actual_angle + norm_rotation+180.0f+round_diff*360.0f; *speed = -(*speed); } - ANGLE_LIMIT_360_TO_180_ABS(*angle); + // ANGLE_LIMIT_360_TO_180_ABS(*angle); // float rotation = *angle - *last_angle; // ANGLE_LIMIT_360_TO_180_ABS(rotation); // if (rotation > 90) { @@ -266,46 +266,59 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) * @brief 舵轮电机角度解算 * */ -static void SteeringWheelCalculate() + static void SteeringWheelCalculate() { - float offset_lf, offset_rb; // 用于计算舵轮的角度 - float at_lf_last, at_rb_last; // 上次的角度 - at_lf_last = motor_steering_lf->measure.total_angle; - at_rb_last = motor_steering_rb->measure.total_angle; + float offset_rf, offset_lb; // 用于计算舵轮的角度 + float at_rf_last, at_lb_last; // 上次的角度 + at_lb_last = motor_steering_lb->measure.total_angle; + // at_lf_last = motor_steering_lf->measure.total_angle; + at_rf_last = motor_steering_rf->measure.total_angle; + // at_rb_last = motor_steering_rb->measure.total_angle; if (chassis_vx == 0 && chassis_vy == 0 && chassis_cmd_recv.wz == 0) { // at_lf = at_lf_last; // at_rf = at_rf_last; // at_lb = at_lb_last; // at_rb = at_rb_last; - vt_lf = 0, vt_rb = 0; + vt_lb = 0, vt_rf = 0; } else { // 生成预计算变量，减少计算量，空间换时间 float w = chassis_cmd_recv.wz * CHASSIS_WHEEL_OFFSET * SQRT2; float temp_x = chassis_vx - w, temp_y = chassis_vy - w; - arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lf); // lf：y- , x- - temp_y = chassis_vy + w; // 重复利用变量,temp_x = chassis_vy - w;与上次相同因此注释 - // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lb); // lb: y+ , x- - // temp_x = chassis_vx + w; // temp_y = chassis_vx + w;与上次相同因此注释 - arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rb); // rb: y+ , x+ - temp_y = chassis_vy - w; // temp_x = chassis_vy + w;与上次相同因此注释 - // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rf); // rf: y- , x+ + // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lf); // lf：y- , x- + // temp_y = chassis_vy + w; // 重复利用变量,temp_x = chassis_vy - w;与上次相同因此注释 + arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_lb); // lb: y+ , x- + temp_x = chassis_vx + w; + temp_y = chassis_vy + w;//与上次相同因此注释 + // arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rb); // rb: y+ , x+ + // temp_y = chassis_vy - w; // temp_x = chassis_vy + w;与上次相同因此注释 + arm_sqrt_f32(temp_x * temp_x + temp_y * temp_y, &vt_rf); // rf: y- , x+ // 计算角度偏移 - offset_lf = atan2f(chassis_vx - w, chassis_vy - w) * RAD_2_DEGREE; // lf: y- , x- - offset_rb = atan2f(chassis_vx + w, chassis_vy + w) * RAD_2_DEGREE; // rb: y+ , x+ + // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- + offset_rf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ + offset_lb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x-注意 + // offset_rb = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // rb: y+ , x+ - at_lf = STEERING_CHASSIS_ALIGN_ANGLE_LF + offset_lf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度 - at_rb = STEERING_CHASSIS_ALIGN_ANGLE_RB + offset_rb; + // at_lf = STEERING_CHASSIS_ALIGN_ANGLE_LF + offset_lf; // 此处似乎不需要加上真实角度，因为我们需要的是绝对角度而不是相对角度 + at_rf = STEERING_CHASSIS_ALIGN_ANGLE_RF + offset_rf; + at_lb = STEERING_CHASSIS_ALIGN_ANGLE_LB + offset_lb; + // at_rb = STEERING_CHASSIS_ALIGN_ANGLE_RB + offset_rb; - ANGLE_LIMIT_360_TO_180_ABS(at_lf); - ANGLE_LIMIT_360_TO_180_ABS(at_rb); + // ANGLE_LIMIT_360_TO_180_ABS(at_lf); + ANGLE_LIMIT_360_TO_180_ABS(at_rf); + ANGLE_LIMIT_360_TO_180_ABS(at_lb); + // ANGLE_LIMIT_360_TO_180_ABS(at_rb); - MinmizeRotation(&at_lf, &at_lf_last, &vt_lf); - MinmizeRotation(&at_rb, &at_rb_last, &vt_rb); + // MinmizeRotation(&at_lf, &at_lf_last, &vt_lf); + MinmizeRotation(&at_rf, &at_rf_last, &vt_rf); + MinmizeRotation(&at_lb, &at_lb_last, &vt_lb); + // MinmizeRotation(&at_rb, &at_rb_last, &vt_rb); } - DJIMotorSetRef(motor_steering_lf, at_lf); - DJIMotorSetRef(motor_steering_rb, at_rb); + // DJIMotorSetRef(motor_steering_lf, at_lf); + DJIMotorSetRef(motor_steering_rf, at_rf); + DJIMotorSetRef(motor_steering_lb, at_lb); + // DJIMotorSetRef(motor_steering_rb, at_rb); } /** @@ -335,8 +348,8 @@ static void LimitChassisOutput() // LKMotorSetRef( motor_lf , vt_lf ); // LKMotorSetRef( motor_rb , vt_rb ); - LKMotorSetRef( motor_lf , vt_lf ); - LKMotorSetRef( motor_rb , vt_rb ); + LKMotorSetRef( motor_rf , vt_rf ); + LKMotorSetRef( motor_lb , vt_lb ); } /** @@ -365,18 +378,18 @@ void ChassisTask() if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE) { // 如果出现重要模块离线或遥控器设置为急停,让电机停止 - LKMotorStop(motor_lf); - LKMotorStop(motor_rb); - DJIMotorStop(motor_steering_lf); - DJIMotorStop(motor_steering_rb); + LKMotorStop(motor_rf); + LKMotorStop(motor_lb); + DJIMotorStop(motor_steering_rf); + DJIMotorStop(motor_steering_lb); } else { // 正常工作 - LKMotorEnable(motor_lf); - LKMotorEnable(motor_rb); - DJIMotorEnable(motor_steering_lf); - DJIMotorEnable(motor_steering_rb); + LKMotorEnable(motor_rf); + LKMotorEnable(motor_lb); + DJIMotorEnable(motor_steering_rf); + DJIMotorEnable(motor_steering_lb); } // 根据控制模式设定旋转速度 @@ -386,8 +399,8 @@ void ChassisTask() chassis_cmd_recv.wz = 0; break; case CHASSIS_FOLLOW_GIMBAL_YAW: // 跟随云台,不单独设置pid,以误差角度平方为速度输出 + // float single_round_offset = chassis_cmd_recv.offset_angle; float single_round_offset = chassis_cmd_recv.offset_angle; - // float single_round_offset = fmodf(chassis_cmd_recv.offset_angle, 360.0f); if(single_round_offset > 180.0f) { single_round_offset -= 360.0f; @@ -395,7 +408,6 @@ void ChassisTask() else if(single_round_offset < -180.0f) { 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, chassis_cmd_recv.offset_angle, 0)/100; @@ -413,7 +425,7 @@ void ChassisTask() cos_theta = arm_cos_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); sin_theta = arm_sin_f32(chassis_cmd_recv.offset_angle * DEGREE_2_RAD); chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; - chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; + chassis_vy = -chassis_cmd_recv.vx * sin_theta - chassis_cmd_recv.vy * cos_theta; // 根据控制模式进行正运动学解算,计算底盘输出 SteeringWheelCalculate(); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index ac24c6f..1c0e786 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -15,7 +15,7 @@ // 私有宏,自动将编码器转换成角度值 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 - +uint16_t around=0; /* cmd应用包含的模块实例指针和交互信息存储*/ #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 #include "can_comm.h" @@ -30,8 +30,8 @@ static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信 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 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 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 @@ -48,7 +48,7 @@ static Robot_Status_e robot_state; // 机器人整体工作状态 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 + // 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)); @@ -80,13 +80,26 @@ void RobotCMDInit() * @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 float base_total_angle = 0.0f; // 用于计算偏移的基准角度 static void CalcOffsetAngle() { static float last_offset_angle = 0; const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显 + + const float deadband = 3.0f; // 死区值 + // 新增：跟踪模式变化，用于重置基准角度 + // static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;// + // + // + // // 当从旋转模式切换到跟随模式时，重置基准角度 + // if (last_chassis_mode == CHASSIS_ROTATE && chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW) + // { + // base_total_angle = gimbal_fetch_data.yaw_motor_total_angle; + // last_offset_angle = 0.0f; // 同时重置历史偏移值 + // } + float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE; -#if YAW_CHASSIS_REVERSE +#if YAW_ECD_GREATER_THAN_4096 new_offset = -new_offset; #endif float angle_diff = new_offset - last_offset_angle; @@ -94,8 +107,25 @@ static void CalcOffsetAngle() new_offset -= 360.0f; else if (angle_diff < -180.0f) new_offset += 360.0f; - chassis_cmd_send .offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor; - last_offset_angle = chassis_cmd_send.offset_angle; + ///// + // 应用死区 + if (fabs(new_offset) < deadband) { + new_offset = 0.0f; + } else if (new_offset > 0) { + new_offset -= deadband; + } else { + new_offset += deadband; + }////// + chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor; + last_offset_angle = chassis_cmd_send.offset_angle; + // // 更新模式状态 + // last_chassis_mode = chassis_cmd_send.chassis_mode; + // // 当处于旋转模式时，更新基准角度以防止累积过大误差 + // if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE) + // { + // base_total_angle = gimbal_fetch_data.yaw_motor_total_angle; + // } + // static float angle; // static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变 // /* 使用 yaw 电机的单圈角度与 `YAW_ALIGN_ANGLE` 对齐（保持原实现的参考系） @@ -151,11 +181,15 @@ static void RemoteControlSet() // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据? if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台 { + // around = 0; chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; + around= chassis_cmd_send.offset_angle/360; } else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘和云台分离,底盘保持不转动 { + //gimbal_fetch_data.yaw_motor_total_angle = gimbal_fetch_data.yaw_motor_total_angle-around*360; + chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle - 360*around; chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; } @@ -167,7 +201,7 @@ static void RemoteControlSet() // ... } // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制 - if (switch_is_down(rc_data[TEMP].rc.switch_left) || vision_recv_data->target_state == NO_TARGET) + if (switch_is_down(rc_data[TEMP].rc.switch_left) ) { // 按照摇杆的输出大小进行角度增量,增益系数需调整 gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_; gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1; @@ -175,8 +209,8 @@ static void RemoteControlSet() // 云台软件限位 // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整 - chassis_cmd_send.vy = -0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 - chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 + chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向 + chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向 // // 发射参数 // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开 @@ -347,5 +381,5 @@ void RobotCMDTask() #endif // GIMBAL_BOARD PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send); - VisionSend(&vision_send_data); + // VisionSend(&vision_send_data); } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 6dde34a..0fa3539 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -26,8 +26,10 @@ void GimbalInit() }, .controller_param_init_config = { .angle_PID = { + //.Kp = 0.685, // 8 .Kp = 0.685, // 8 - .Ki = 0.315, + //.Ki = 0.315, + .Ki = 0.25, .Kd = 0.022, //.DeadBand = 0.1, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate, @@ -38,7 +40,8 @@ void GimbalInit() .Derivative_LPF_RC = 0.001 }, .speed_PID = { - .Kp = 8000, // 50 + .Kp = 8000, // 50 + //.Kp = 5000, // 50 .Ki = 5000, // 200 .Kd = 0, .CoefB = 1, @@ -56,7 +59,7 @@ void GimbalInit() .speed_feedback_source = OTHER_FEED, .outer_loop_type = ANGLE_LOOP, .close_loop_type = ANGLE_LOOP | SPEED_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, + .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, }, .motor_type = GM6020}; // PITCH @@ -93,7 +96,7 @@ void GimbalInit() .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, }, - .motor_type = GM6020, + .motor_type = M3508, }; // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动 yaw_motor = DJIMotorInit(&yaw_config); @@ -151,8 +154,9 @@ void GimbalTask() // 设置反馈数据,主要是imu和yaw的ecd gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data; - // gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round; - gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.total_angle; + gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round; + gimbal_feedback_data.yaw_motor_total_angle = yaw_motor->measure.total_angle; + // gimbal_feedback_data.yaw_motor_total_angle = gimba_IMU_data->YawTotalAngle; // 推送消息 PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data); } \ No newline at end of file diff --git a/application/robot_def.h b/application/robot_def.h index 2ef1c9d..ab6b79f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,7 +26,7 @@ /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */ // 云台参数 -#define YAW_CHASSIS_ALIGN_ECD 8015 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 +#define YAW_CHASSIS_ALIGN_ECD 3938 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度 #define PITCH_HORIZON_ECD 3412 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改 #define PITCH_MAX_ANGLE 0 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) @@ -35,11 +35,11 @@ // #define CHASSIS_OMNI_WHEEL // 是否为全向轮底盘 // #define CHASSIS_MCNAMEE_WHEEL // 是否为麦克纳姆轮底盘 #define CHASSIS_STEERING_WHEEL // 是否为舵轮 -#define STEERING_CHASSIS_ALIGN_ECD_LF 7367 // 舵电机 A 编码器值，若有机械改动需要修改 -#define STEERING_CHASSIS_ALIGN_ECD_RB 1195 // 舵电机 D 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_RF 7367 // 舵电机 A 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_LB 1195 // 舵电机 D 编码器值，若有机械改动需要修改 -#define STEERING_CHASSIS_ALIGN_ANGLE_LF STEERING_CHASSIS_ALIGN_ECD_LF / 8192.f * 360.f // 舵轮 A 对齐角度 -#define STEERING_CHASSIS_ALIGN_ANGLE_RB STEERING_CHASSIS_ALIGN_ECD_RB / 8192.f * 360.f // 舵轮 D 对齐角度 +#define STEERING_CHASSIS_ALIGN_ANGLE_RF STEERING_CHASSIS_ALIGN_ECD_RF / 8192.f * 360.f // 舵轮 A 对齐角度 +#define STEERING_CHASSIS_ALIGN_ANGLE_LB STEERING_CHASSIS_ALIGN_ECD_LB / 8192.f * 360.f // 舵轮 D 对齐角度 // 发射参数 #define ONE_BULLET_DELTA_ANGLE 36 // 发射一发弹丸拨盘转动的距离,由机械设计图纸给出 #define REDUCTION_RATIO_LOADER 49.0f // 拨盘电机的减速比,英雄需要修改为3508的19.0f @@ -207,7 +207,7 @@ typedef struct { attitude_t gimbal_imu_data; uint16_t yaw_motor_single_round_angle; - float yaw_motor_total_angle; + uint16_t yaw_motor_total_angle; } Gimbal_Upload_Data_s; typedef struct diff --git a/application/shoot/shoot.c b/application/shoot/shoot.c index 514ea36..921402c 100644 --- a/application/shoot/shoot.c +++ b/application/shoot/shoot.c @@ -96,7 +96,7 @@ void ShootInit() .close_loop_type = CURRENT_LOOP | SPEED_LOOP, .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, // 注意方向设置为拨盘的拨出的击发方向 }, - .motor_type = M2006 // 英雄使用m3508 + .motor_type = M3508 // 英雄使用m3508 }; loader = DJIMotorInit(&loader_config); diff --git a/modules/led/led.h b/modules/led/led.h index 0741315..e8b4e1b 100644 --- a/modules/led/led.h +++ b/modules/led/led.h @@ -28,6 +28,6 @@ void LEDSet(LEDInstance *_led,uint8_t alpha,uint8_t color_value,uint8_t brightne void LEDSwitch(LEDInstance *_led,uint8_t led_switch); -void LEDShow(); +void LEDShow(uint32_t aRGB); #endif // !_LED_H_ diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c index 0949f6d..95d3b10 100644 --- a/modules/remote/remote_control.c +++ b/modules/remote/remote_control.c @@ -40,7 +40,7 @@ static void sbus_to_rc(const uint8_t *sbus_buf) rc_ctrl[TEMP].rc.rocker_l_ = (((sbus_buf[2] >> 6) | (sbus_buf[3] << 2) | (sbus_buf[4] << 10)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 2 rc_ctrl[TEMP].rc.rocker_l1 = (((sbus_buf[4] >> 1) | (sbus_buf[5] << 7)) & 0x07ff) - RC_CH_VALUE_OFFSET; //!< Channel 3 rc_ctrl[TEMP].rc.dial = ((sbus_buf[16] | (sbus_buf[17] << 8)) & 0x07FF) - RC_CH_VALUE_OFFSET; - rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_+3; + rc_ctrl[TEMP].rc.rocker_l_= rc_ctrl[TEMP].rc.rocker_l_; // 左侧拨轮 RectifyRCjoystick(); // 开关,0左1右