TuxMonkey/half-steering-basic-framework
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fcl
2026-03-21 18:44:25 +08:00
committed by guoxy06
parent 277b3a11c0
commit df0e1f4b1f
5 changed files with 64 additions and 39 deletions
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74
application/shoot/shoot.c
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@@ -68,33 +68,36 @@ void ShootInit()
.controller_param_init_config = {
.angle_PID = {
// 如果启用位置环来控制发弹,需要较大的I值保证输出力矩的线性度否则出现接近拨出的力矩大幅下降
.Kp = 10, // 10
.Ki = 0,
.Kd = 0,
.MaxOut = 200,
.Kp = 50,
.Ki = 0,
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ErrorHandle,
.IntegralLimit = 10000,
.MaxOut = 15000,
.Derivative_LPF_RC = 0.01,
},
.speed_PID = {
.Kp = 10, // 10
.Ki = 1, // 1
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 5000,
.MaxOut = 5000,
.Kp = 5, // 10
.Ki = 100, // 1
.Kd = 0,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 10000,
.MaxOut = 15000,
},
.current_PID = {
.Kp = 0.7, // 0.7
.Ki = 0.1, // 0.1
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 5000,
.MaxOut = 5000,
.Kp = 0.7, // 0.7
.Ki = 0, // 0.1
.Kd = 0,
.Improve = PID_Integral_Limit,
.IntegralLimit = 10000,
.MaxOut = 15000,
},
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED, .speed_feedback_source = MOTOR_FEED,
.outer_loop_type = SPEED_LOOP, // 初始化成SPEED_LOOP,让拨盘停在原地,防止拨盘上电时乱转
.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
.close_loop_type = CURRENT_LOOP | SPEED_LOOP| ANGLE_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE, // 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
};
@@ -126,8 +129,8 @@ void ShootTask()
// 如果上一次触发单发或3发指令的时间加上不应期仍然大于当前时间(尚未休眠完毕),直接返回即可
// 单发模式主要提供给能量机关激活使用(以及英雄的射击大部分处于单发)
// if (hibernate_time + dead_time > DWT_GetTimeline_ms())
// return;
if (hibernate_time + dead_time > DWT_GetTimeline_ms())
return;
// 若不在休眠状态,根据robotCMD传来的控制模式进行拨盘电机参考值设定和模式切换
switch (shoot_cmd_recv.load_mode)
@@ -138,11 +141,16 @@ void ShootTask()
DJIMotorSetRef(loader, 0); // 同时设定参考值为0,这样停止的速度最快
break;
// 单发模式,根据鼠标按下的时间,触发一次之后需要进入不响应输入的状态(否则按下的时间内可能多次进入,导致多次发射)
case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
DJIMotorSetRef(loader, loader->measure.total_angle + ONE_BULLET_DELTA_ANGLE); // 控制量增加一发弹丸的角度
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = 150; // 完成1发弹丸发射的时间
case LOAD_1_BULLET: // 激活能量机关/干扰对方用,英雄用.
DJIMotorOuterLoop(loader, ANGLE_LOOP); // 切换到角度环
static float last_target_angle = 0; // 存储上次的目标角度
if (dead_time == 0) { // 第一次触发
last_target_angle = loader->measure.total_angle;
}
last_target_angle += ONE_BULLET_DELTA_ANGLE * REDUCTION_RATIO_LOADER; // 每次都在上次目标角度基础上增加固定角度
DJIMotorSetRef(loader, last_target_angle);
hibernate_time = DWT_GetTimeline_ms(); // 记录触发指令的时间
dead_time = shoot_cmd_recv.dead_time; // 完成1发弹丸发射的时间
break;
// 三连发,如果不需要后续可能删除
case LOAD_3_BULLET:
@@ -175,20 +183,20 @@ void ShootTask()
switch (shoot_cmd_recv.bullet_speed)
{
case SMALL_AMU_15:
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
DJIMotorSetRef(friction_l, 58000);
DJIMotorSetRef(friction_r, 58000);
break;
case SMALL_AMU_18:
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
DJIMotorSetRef(friction_l, 58000);
DJIMotorSetRef(friction_r, 58000);
break;
case SMALL_AMU_30:
DJIMotorSetRef(friction_l, 50000);
DJIMotorSetRef(friction_r, 50000);
DJIMotorSetRef(friction_l, 58000);
DJIMotorSetRef(friction_r, 58000);
break;
default: // 当前为了调试设定的默认值4000,因为还没有加入裁判系统无法读取弹速.
DJIMotorSetRef(friction_l, 30000);
DJIMotorSetRef(friction_r, 30000);
DJIMotorSetRef(friction_l, 58000);
DJIMotorSetRef(friction_r, 58000);
break;
}
}