TuxMonkey/half-steering-basic-framework
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fcl
2026-03-04 20:33:02 +08:00
parent aafc4b7da9
commit c41dfd54ba
2 changed files with 10 additions and 10 deletions
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6
application/chassis/chassis.c
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@@ -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();

14
application/cmd/robot_cmd.c
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@@ -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);
}