From 352d0853340f08c28a81a7c7e0d7bbb934e2abb6 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sat, 17 Jan 2026 14:18:01 +0800 Subject: [PATCH 01/18] new brench --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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。 From 3fc78a8fcd40d95ac534456b9512a55fc6a1cd02 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sat, 17 Jan 2026 14:34:46 +0800 Subject: [PATCH 02/18] =?UTF-8?q?=E6=94=B9=E5=8A=A8=E5=BA=95=E7=9B=98?= =?UTF-8?q?=E6=9C=80=E5=B0=8F=E8=BF=90=E7=AE=97=E8=A7=92=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 41b6e10..a4a260a 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -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; @@ -241,15 +241,15 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) if (fabsf(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); }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) { From ee636a02b4e1fae43e2dbde13e1f001750ac9b48 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sat, 17 Jan 2026 14:37:17 +0800 Subject: [PATCH 03/18] 1.0 --- application/robot_def.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/application/robot_def.h b/application/robot_def.h index ef05828..d6f12aa 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 8192 // 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) From 666ec971fedeaf3a5856bdb98788a68f957caac6 Mon Sep 17 00:00:00 2001 From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com> Date: Sat, 17 Jan 2026 15:15:56 +0800 Subject: [PATCH 04/18] add C Standard to C23 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From 71375209d0811a3a6b66cb6290460aebc9b0505e Mon Sep 17 00:00:00 2001 From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com> Date: Sat, 17 Jan 2026 15:39:46 +0800 Subject: [PATCH 05/18] add C Standard to C23 --- application/cmd/robot_cmd.c | 9 +++++---- modules/led/led.h | 2 +- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index ac24c6f..100e01d 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -31,7 +31,7 @@ static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反 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_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 @@ -334,8 +334,9 @@ void RobotCMDTask() EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 - // 设置视觉发送数据,还需增加加速度和角速度数据 - // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed) + // 设置视觉发送数据 + VisionSetFlag(chassis_fetch_data.enemy_color, VISION_MODE_AIM , chassis_fetch_data.bullet_speed); + VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Yaw, gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.Roll); // 推送消息,双板通信,视觉通信等 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 @@ -347,5 +348,5 @@ 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(); } 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_ From 80c832a16b48484eda1c4c12b72cb658969e7436 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sat, 17 Jan 2026 16:54:38 +0800 Subject: [PATCH 06/18] new brench --- application/cmd/robot_cmd.c | 1 - application/gimbal/gimbal.c | 7 ++++--- application/robot_def.h | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 100e01d..df058e1 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -44,7 +44,6 @@ 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 - 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 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 6dde34a..d4ecc3c 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -56,7 +56,7 @@ 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 @@ -151,8 +151,9 @@ 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 d6f12aa..383ed6b 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -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 From 26f210da124cee42bc01295f31fea504cee3e56d Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sat, 17 Jan 2026 17:43:42 +0800 Subject: [PATCH 07/18] new brench --- application/chassis/chassis.c | 5 ++--- application/cmd/robot_cmd.c | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index a4a260a..ccef766 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -240,7 +240,7 @@ 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) { + 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); @@ -386,8 +386,8 @@ 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 +395,6 @@ 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; diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index df058e1..b130af5 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -93,7 +93,7 @@ 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; + chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor; last_offset_angle = chassis_cmd_send.offset_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 From 734d04ec10652fecd4f7be0dc6c7e7bc44c8d77b Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sat, 17 Jan 2026 18:39:27 +0800 Subject: [PATCH 08/18] new brench --- application/chassis/chassis.c | 6 +++--- application/cmd/robot_cmd.c | 2 +- application/gimbal/gimbal.c | 2 +- application/robot_def.h | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index ccef766..e3db4ba 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -151,10 +151,10 @@ void ChassisInit() motor_steering_lf = DJIMotorInit(&chassis_motor_steering_config); PID_Init_Config_s chassis_follow_pid_conf = { - .Kp = 20, // 6 + .Kp = 6, // 6 .Ki = 0, - .Kd = 3, // 0.5 - .DeadBand = 0.5f, + .Kd = 0.495, // 0.5 + // .DeadBand = 0.5f, //.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, diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index b130af5..bcf8eab 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -85,7 +85,7 @@ 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 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; diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index d4ecc3c..3a086e0 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -56,7 +56,7 @@ void GimbalInit() .speed_feedback_source = OTHER_FEED, .outer_loop_type = ANGLE_LOOP, .close_loop_type = ANGLE_LOOP | SPEED_LOOP, - .motor_reverse_flag = MOTOR_DIRECTION_REVERSE, + .motor_reverse_flag = MOTOR_DIRECTION_NORMAL, }, .motor_type = GM6020}; // PITCH diff --git a/application/robot_def.h b/application/robot_def.h index 383ed6b..07ae8b0 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -27,7 +27,7 @@ /* 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 8192 // 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 YAW_ECD_GREATER_THAN_4096 1 // 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) #define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度) From ba89c2044a27c449ec76b28d3b40ecda32049e50 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sun, 18 Jan 2026 10:48:06 +0800 Subject: [PATCH 09/18] test --- application/chassis/chassis.c | 100 +++++++++++++++++++--------------- application/cmd/robot_cmd.c | 6 +- application/gimbal/gimbal.c | 2 +- application/robot_def.h | 12 ++-- 4 files changed, 66 insertions(+), 54 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index e3db4ba..ee8ea09 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() @@ -100,13 +100,13 @@ void ChassisInit() }; // @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改. - 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); - 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_rf = LKMotorInit(&chassis_motor_config); + + chassis_motor_config.can_init_config.tx_id = 1; + // chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; + motor_lb = LKMotorInit(&chassis_motor_config); // 舵电机6020初始化 Motor_Init_Config_s chassis_motor_steering_config = { @@ -145,10 +145,10 @@ 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 = 6, // 6 @@ -266,46 +266,58 @@ 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_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+ // 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- + // 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 +347,8 @@ 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 +377,18 @@ 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 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index bcf8eab..b2ea2d2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -155,7 +155,7 @@ static void RemoteControlSet() } 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 { - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; + chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; } @@ -174,8 +174,8 @@ 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 diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 3a086e0..d4ecc3c 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -56,7 +56,7 @@ 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 diff --git a/application/robot_def.h b/application/robot_def.h index 07ae8b0..a2f5f10 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -26,8 +26,8 @@ /* 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 8192 // 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 1 // 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 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) #define PITCH_MIN_ANGLE 0 // 云台竖直方向最小角度 (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 1221 // 舵电机 A 编码器值，若有机械改动需要修改 -#define STEERING_CHASSIS_ALIGN_ECD_RB 7294 // 舵电机 D 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_RF 1221 // 舵电机 A 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_LB 7294 // 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 From f1498388844e32987c29ed05a6ddcb06535a9713 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sun, 18 Jan 2026 15:25:17 +0800 Subject: [PATCH 10/18] =?UTF-8?q?=E5=AF=B9=E9=BD=90=E6=97=B6=E5=89=8D?= =?UTF-8?q?=E5=90=8E=E5=B7=A6=E5=8F=B3=E6=96=B9=E5=90=91=E6=AD=A3=E7=A1=AE?= =?UTF-8?q?=EF=BC=8C=E4=BD=86=E5=BA=95=E7=9B=98=E8=B7=9F=E9=9A=8F=E6=97=B6?= =?UTF-8?q?=E8=88=B5=E8=BD=AE=E6=97=8B=E8=BD=AC=E6=96=B9=E5=90=91=E9=94=99?= =?UTF-8?q?=E8=AF=AF=EF=BC=8C=E9=9C=80=E8=A6=81=E4=BD=BF=E8=88=B5=E8=BD=AE?= =?UTF-8?q?=E6=8C=89=E4=B8=8E=E8=BF=99=E6=9D=BF=E4=BB=A3=E7=A0=81=E7=9B=B8?= =?UTF-8?q?=E5=8F=8D=E7=9A=84=E6=97=8B=E8=BD=AC=E6=96=B9=E5=90=91=E8=BD=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 11 ++++++----- application/cmd/robot_cmd.c | 2 +- application/robot_def.h | 4 ++-- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index ee8ea09..057f553 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -100,11 +100,11 @@ void ChassisInit() }; // @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改. - chassis_motor_config.can_init_config.tx_id = 2; + chassis_motor_config.can_init_config.tx_id = 1; // chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; motor_rf = LKMotorInit(&chassis_motor_config); - chassis_motor_config.can_init_config.tx_id = 1; + chassis_motor_config.can_init_config.tx_id = 2; // chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE; motor_lb = LKMotorInit(&chassis_motor_config); @@ -287,15 +287,16 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 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 + 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_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- + offset_lb = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ + offset_rf = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- // 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 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index b2ea2d2..4999adb 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -175,7 +175,7 @@ static void RemoteControlSet() // 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.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 + 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 diff --git a/application/robot_def.h b/application/robot_def.h index a2f5f10..b3e4ee6 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -35,8 +35,8 @@ // #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_RF 1221 // 舵电机 A 编码器值，若有机械改动需要修改 -#define STEERING_CHASSIS_ALIGN_ECD_LB 7294 // 舵电机 D 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_RF 7294 // 舵电机 A 编码器值，若有机械改动需要修改 +#define STEERING_CHASSIS_ALIGN_ECD_LB 1221 // 舵电机 D 编码器值，若有机械改动需要修改 #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 From b20c56375b313ec86196c1d6313d471bde9756a7 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sun, 18 Jan 2026 19:51:20 +0800 Subject: [PATCH 11/18] =?UTF-8?q?=E5=BA=95=E7=9B=98=E8=B7=9F=E9=9A=8F?= =?UTF-8?q?=E4=BA=91=E5=8F=B0=E6=AD=A3=E5=B8=B8=EF=BC=8C=E5=B0=8F=E9=99=80?= =?UTF-8?q?=E8=9E=BA=E8=88=B5=E8=BD=AE=E6=96=B9=E5=90=91=E6=AD=A3=E7=A1=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 4 ++-- application/cmd/robot_cmd.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 057f553..8dc08cd 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -295,8 +295,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 计算角度偏移 // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- - offset_lb = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ - offset_rf = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- + offset_lb = -atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ + offset_rf = -atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- // 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 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4999adb..b2ea2d2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -175,7 +175,7 @@ static void RemoteControlSet() // 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.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 + 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 From 3717e5603a3f16b096adee3ccd5089f6568c0f85 Mon Sep 17 00:00:00 2001 From: Zorua <3540226929@qq.com> Date: Sun, 18 Jan 2026 19:51:57 +0800 Subject: [PATCH 12/18] =?UTF-8?q?=E5=BA=95=E7=9B=98=E8=B7=9F=E9=9A=8F?= =?UTF-8?q?=E4=BA=91=E5=8F=B0=E6=AD=A3=E5=B8=B8=EF=BC=8C=E5=B0=8F=E9=99=80?= =?UTF-8?q?=E8=9E=BA=E8=88=B5=E8=BD=AE=E6=96=B9=E5=90=91=E9=94=99=E8=AF=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 4 ++-- application/cmd/robot_cmd.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 057f553..8dc08cd 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -295,8 +295,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 计算角度偏移 // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- - offset_lb = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ - offset_rf = atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- + offset_lb = -atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ + offset_rf = -atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: y+ , x- // 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 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 4999adb..b2ea2d2 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -175,7 +175,7 @@ static void RemoteControlSet() // 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.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 + 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 From c41dfd54ba9ea0af09065e270a3613e090f44bc5 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Wed, 4 Mar 2026 20:33:02 +0800 Subject: [PATCH 13/18] reset --- application/chassis/chassis.c | 6 +++--- application/cmd/robot_cmd.c | 14 +++++++------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 8dc08cd..dba99c1 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -295,8 +295,8 @@ static void MinmizeRotation(float *angle, const float *last_angle, float *speed) // 计算角度偏移 // offset_lf = atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // lf: y- , x- - offset_lb = -atan2f(chassis_vy - w, chassis_vx - w) * RAD_2_DEGREE; // rf: y- , x+ - offset_rf = -atan2f(chassis_vy + w, chassis_vx + w) * RAD_2_DEGREE; // lb: 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 @@ -425,7 +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 b2ea2d2..a172a86 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -30,7 +30,7 @@ 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_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 @@ -44,10 +44,11 @@ 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 + 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)); @@ -166,7 +167,7 @@ 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; @@ -333,9 +334,8 @@ void RobotCMDTask() EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 - // 设置视觉发送数据 - VisionSetFlag(chassis_fetch_data.enemy_color, VISION_MODE_AIM , chassis_fetch_data.bullet_speed); - VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Yaw, gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.Roll); + // 设置视觉发送数据,还需增加加速度和角速度数据 + // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed) // 推送消息,双板通信,视觉通信等 // 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置 @@ -347,5 +347,5 @@ void RobotCMDTask() #endif // GIMBAL_BOARD PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send); - VisionSend(); + // VisionSend(&vision_send_data); } From f41a2f3a4a04d62daf9912ecd15ebf338759a269 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Wed, 4 Mar 2026 20:42:18 +0800 Subject: [PATCH 14/18] reset again --- application/cmd/robot_cmd.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index a172a86..3e8d313 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -156,7 +156,7 @@ static void RemoteControlSet() } 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 { - chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; + chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; } From a99307cd0492cd98c71da874721bf1f788cf5105 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sat, 7 Mar 2026 19:52:36 +0800 Subject: [PATCH 15/18] reset again pro --- application/chassis/chassis.c | 2 +- application/cmd/robot_cmd.c | 34 ++++++++++++++++++++++++++++++++-- application/gimbal/gimbal.c | 11 +++++++---- application/robot_def.h | 4 ++-- application/shoot/shoot.c | 2 +- 5 files changed, 43 insertions(+), 10 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index dba99c1..a2597c8 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -154,7 +154,7 @@ void ChassisInit() .Kp = 6, // 6 .Ki = 0, .Kd = 0.495, // 0.5 - // .DeadBand = 0.5f, + .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, diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 3e8d313..17ee02d 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -80,11 +80,24 @@ 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 = 0.5f; // 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_ECD_GREATER_THAN_4096 new_offset = -new_offset; @@ -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; + ///// + // 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） diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index d4ecc3c..6b3798b 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 - .Ki = 0.315, + //.Kp = 0.685, // 8 + .Kp = 0.6, // 8 + //.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, @@ -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); diff --git a/application/robot_def.h b/application/robot_def.h index b3e4ee6..ab6b79f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -35,8 +35,8 @@ // #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_RF 7294 // 舵电机 A 编码器值，若有机械改动需要修改 -#define STEERING_CHASSIS_ALIGN_ECD_LB 1221 // 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_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 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); From cffaa9db09cb4ba9076ae2177d6a675b2171f266 Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sun, 8 Mar 2026 16:22:50 +0800 Subject: [PATCH 16/18] reset again pro plus --- application/chassis/chassis.c | 2 +- application/cmd/robot_cmd.c | 62 +++++++++++++++++++---------------- application/gimbal/gimbal.c | 2 +- 3 files changed, 35 insertions(+), 31 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index a2597c8..9b561e7 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -153,7 +153,7 @@ void ChassisInit() PID_Init_Config_s chassis_follow_pid_conf = { .Kp = 6, // 6 .Ki = 0, - .Kd = 0.495, // 0.5 + .Kd = 0.495, // 0.495 .DeadBand = 0.5f,// 启用死区，值为0.5度 //.CoefA = 0.2, //.CoefB = 0.3, diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 17ee02d..294e8d3 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" @@ -80,23 +80,23 @@ 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 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 smooth_factor = 0.4f; // 平滑因子,0~1之间,值越大平滑效果越明显 - //const float deadband = 0.5f; // 死区值 + 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 - } + // 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_ECD_GREATER_THAN_4096 @@ -109,22 +109,22 @@ static void CalcOffsetAngle() new_offset += 360.0f; ///// // 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; - } + 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 @@ -181,11 +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; } diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c index 6b3798b..0fa3539 100644 --- a/application/gimbal/gimbal.c +++ b/application/gimbal/gimbal.c @@ -27,7 +27,7 @@ void GimbalInit() .controller_param_init_config = { .angle_PID = { //.Kp = 0.685, // 8 - .Kp = 0.6, // 8 + .Kp = 0.685, // 8 //.Ki = 0.315, .Ki = 0.25, .Kd = 0.022, From 3a3376a5542377221586516f88951642de67744b Mon Sep 17 00:00:00 2001 From: fcl <2136892861@qq.com> Date: Sun, 8 Mar 2026 17:19:42 +0800 Subject: [PATCH 17/18] reset again pro plus + --- application/chassis/chassis.c | 4 ++-- application/cmd/robot_cmd.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 9b561e7..b241cd0 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -151,9 +151,9 @@ void ChassisInit() motor_steering_lb = DJIMotorInit(&chassis_motor_steering_config); PID_Init_Config_s chassis_follow_pid_conf = { - .Kp = 6, // 6 + .Kp = 1.05, // 6 .Ki = 0, - .Kd = 0.495, // 0.495 + .Kd = 0.1, // 0.495 .DeadBand = 0.5f,// 启用死区，值为0.5度 //.CoefA = 0.2, //.CoefB = 0.3, diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 294e8d3..1c0e786 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -84,7 +84,7 @@ void RobotCMDInit() static void CalcOffsetAngle() { static float last_offset_angle = 0; - const float smooth_factor = 0.4f; // 平滑因子,0~1之间,值越大平滑效果越明显 + 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 From a9ac56dc5250bc92c23327533637a27c03b66562 Mon Sep 17 00:00:00 2001 From: TuxMonkey Date: Tue, 10 Mar 2026 02:22:30 +0800 Subject: [PATCH 18/18] delete +3 --- modules/remote/remote_control.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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