赛场_v1.2

application/chassis/chassis.c

@@ -440,6 +440,9 @@ void ChassisTask()
     // 根据电机的反馈速度和IMU(如果有)计算真实速度
     EstimateSpeed();
 
+    // 将robot_level传递给UI数据
+    ui_data.robot_level = chassis_cmd_recv.robot_level;
+
     // // 获取裁判系统数据   建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
     // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
     // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;

application/cmd/robot_cmd.c

@@ -8,6 +8,7 @@
 #include "message_center.h"
 #include "general_def.h"
 #include "dji_motor.h"
+#include "referee_task.h"
 // bsp
 #include "bsp_dwt.h"
 #include "bsp_log.h"
@@ -255,6 +256,15 @@ static void MouseKeySet()
         rc_data[TEMP].key_count[KEY_PRESS][Key_G] = 0; // 清除计数器，防止重复执行
     }
 
+    // B键刷新裁判系统UI
+    if (rc_data[TEMP].key[KEY_PRESS].b && rc_data[TEMP].key_count[KEY_PRESS][Key_B] > 0) {
+        MyUIInit(); // 重新初始化UI
+        rc_data[TEMP].key_count[KEY_PRESS][Key_B] = 0; // 清除计数器，防止重复执行
+    }
+
+    // 将robot_level传递给底盘控制命令
+    chassis_cmd_send.robot_level = robot_level;
+
     switch (robot_level)
     {
         case 1:

application/gimbal/gimbal.c

@@ -85,7 +85,7 @@ void GimbalInit()
         //     },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 0.75, //0.55
+                .Kp = 1.00, //0.90
                 .Ki = 0.05,//0.05
                 .Kd = 0.02,//0.02
                 .CoefA =0.5,//0.5

application/robot_def.h

@@ -154,7 +154,7 @@ typedef struct
     chassis_mode_e chassis_mode;
     int chassis_speed_buff;
     // UI部分
-    //  ...
+    uint8_t robot_level; // 机器人等级
 
 } Chassis_Ctrl_Cmd_s;
 

modules/referee/referee_task.c

@@ -57,7 +57,7 @@ static Graph_Data_t UI_shoot_line[10]; // 射击准线
 static Graph_Data_t UI_Energy[3];      // 电容能量条
 static String_Data_t UI_State_sta[6];  // 机器人状态,静态只需画一次
 static String_Data_t UI_State_dyn[6];  // 机器人状态,动态先add才能change
-static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
+static uint32_t shoot_line_location[10] = {525, 950, 490, 515, 565};
 
 void MyUIInit()
 {
@@ -73,12 +73,12 @@ void MyUIInit()
     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, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
+    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]);
     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
-    UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
+    UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "level:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
     UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
@@ -91,7 +91,7 @@ void MyUIInit()
 
     // 绘制车辆状态标志，动态
     // 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
-    UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
+    UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "1");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
     UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
     UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
@@ -116,7 +116,7 @@ void MyUIInit()
     UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
 }
 
-// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
+// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常.
 static uint8_t count = 0;
 static uint16_t count1 = 0;
 static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
@@ -176,27 +176,15 @@ static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测
 static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
 {
     UIChangeCheck(_Interactive_data);
-    // chassis
-    if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
+    // robot level
+    if (_Interactive_data->Referee_Interactive_Flag.robot_level_flag == 1)
     {
-        switch (_Interactive_data->chassis_mode)
-        {
-        case CHASSIS_ZERO_FORCE:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
-            break;
-        case CHASSIS_ROTATE:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate   ");
-            // 此处注意字数对齐问题，字数相同才能覆盖掉
-            break;
-        case CHASSIS_NO_FOLLOW:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
-            break;
-        case CHASSIS_FOLLOW_GIMBAL_YAW:
-            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow   ");
-            break;
-        }
+        char level_str[2];
+        level_str[0] = '0' + _Interactive_data->robot_level;
+        level_str[1] = '\0';
+        UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, level_str);
         UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
-        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
+        _Interactive_data->Referee_Interactive_Flag.robot_level_flag = 0;
     }
     // gimbal
     if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
@@ -261,6 +249,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
  */
 static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
 {
+    if (_Interactive_data->robot_level != _Interactive_data->robot_last_level)
+    {
+        _Interactive_data->Referee_Interactive_Flag.robot_level_flag = 1;
+        _Interactive_data->robot_last_level = _Interactive_data->robot_level;
+    }
+
     if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
     {
         _Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;

modules/referee/rm_referee.h

@@ -54,6 +54,7 @@ typedef struct
 	uint32_t lid_flag : 1;
 	uint32_t friction_flag : 1;
 	uint32_t Power_flag : 1;
+	uint32_t robot_level_flag : 1;
 } Referee_Interactive_Flag_t;
 
 // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -61,6 +62,7 @@ typedef struct
 {
 	Referee_Interactive_Flag_t Referee_Interactive_Flag;
 	// 为UI绘制以及交互数据所用
+	uint8_t robot_level;					 // 机器人等级
 	chassis_mode_e chassis_mode;			 // 底盘模式
 	gimbal_mode_e gimbal_mode;				 // 云台模式
 	shoot_mode_e shoot_mode;				 // 发射模式设置
@@ -69,6 +71,7 @@ typedef struct
 	Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
 
 	// 上一次的模式，用于flag判断
+	uint8_t robot_last_level;
 	chassis_mode_e chassis_last_mode;
 	gimbal_mode_e gimbal_last_mode;
 	shoot_mode_e shoot_last_mode;