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] 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); }