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https://gitee.com/dlmu-cone/half-steering-basic-framework
synced 2026-10-23 17:42:20 +08:00
385 lines
15 KiB
C
385 lines
15 KiB
C
// app
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#include "robot_def.h"
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#include "robot_cmd.h"
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// module
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#include "remote_control.h"
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#include "ins_task.h"
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#include "master_process.h"
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#include "message_center.h"
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#include "general_def.h"
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#include "dji_motor.h"
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// bsp
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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#include "main.h"
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// 私有宏,自动将编码器转换成角度值
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#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
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#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
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uint16_t around=0;
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/* cmd应用包含的模块实例指针和交互信息存储*/
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#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
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#include "can_comm.h"
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static CANCommInstance *cmd_can_comm; // 双板通信
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#endif
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#ifdef ONE_BOARD
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static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
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static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
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#endif // ONE_BOARD
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static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
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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
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static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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// static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
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// static Vision_Send_s vision_send_data; // 视觉发送数据
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static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
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static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
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static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
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static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Robot_Status_e robot_state; // 机器人整体工作状态
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void RobotCMDInit()
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{
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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
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// vision_recv_data = VisionInit(&huart1); // 视觉通信串口
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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#ifdef ONE_BOARD // 双板兼容
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chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x312,
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.rx_id = 0x311,
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},
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.recv_data_len = sizeof(Chassis_Upload_Data_s),
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.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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};
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cmd_can_comm = CANCommInit(&comm_conf);
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#endif // GIMBAL_BOARD
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gimbal_cmd_send.pitch = 0;
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robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
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}
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/**
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* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
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* 单圈绝对角度的范围是0~360,说明文档中有图示
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*
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*///static float base_total_angle = 0.0f; // 用于计算偏移的基准角度
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static void CalcOffsetAngle()
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{
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static float last_offset_angle = 0;
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const float smooth_factor = 0.3f; // 平滑因子,0~1之间,值越大平滑效果越明显
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const float deadband = 3.0f; // 死区值
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// 新增：跟踪模式变化，用于重置基准角度
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// static chassis_mode_e last_chassis_mode = CHASSIS_NO_FOLLOW;//
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//
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//
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// // 当从旋转模式切换到跟随模式时，重置基准角度
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// if (last_chassis_mode == CHASSIS_ROTATE && chassis_cmd_send.chassis_mode == CHASSIS_FOLLOW_GIMBAL_YAW)
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// {
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// base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
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// last_offset_angle = 0.0f; // 同时重置历史偏移值
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// }
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float new_offset = gimbal_fetch_data.yaw_motor_total_angle - YAW_ALIGN_ANGLE;
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#if YAW_ECD_GREATER_THAN_4096
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new_offset = -new_offset;
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#endif
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float angle_diff = new_offset - last_offset_angle;
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if (angle_diff > 180.0f)
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new_offset -= 360.0f;
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else if (angle_diff < -180.0f)
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new_offset += 360.0f;
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/////
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// 应用死区
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if (fabs(new_offset) < deadband) {
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new_offset = 0.0f;
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} else if (new_offset > 0) {
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new_offset -= deadband;
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} else {
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new_offset += deadband;
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}//////
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chassis_cmd_send.offset_angle = last_offset_angle *(1.0f - smooth_factor) + new_offset * smooth_factor;
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last_offset_angle = chassis_cmd_send.offset_angle;
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// // 更新模式状态
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// last_chassis_mode = chassis_cmd_send.chassis_mode;
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// // 当处于旋转模式时，更新基准角度以防止累积过大误差
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// if (chassis_cmd_send.chassis_mode == CHASSIS_ROTATE)
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// {
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// base_total_angle = gimbal_fetch_data.yaw_motor_total_angle;
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// }
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// static float angle;
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// static float last_diff = 0.0f; // 用于在±180°附近保持上次符号，避免来回跳变
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// /* 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）
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// 并归一化到 (-180,180]，加小死区防抖。
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// */
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// angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 单圈绝对角度（0-360）
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// float diff = angle - YAW_ALIGN_ANGLE;
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// while (diff > 180.0f)
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// diff -= 360.0f;
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// while (diff <= -180.0f)
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// diff += 360.0f;
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// if (fabsf(diff) < 0.5f)
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// diff = 0.0f;
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// /* 处理在恰好为 180° 或接近 180° 时的二义性（噪声导致 180/-180 翻转）
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// 如果差值接近 180°，则保持上一次的符号以避免抖动。可根据需要调整 eps180。
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// */
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// const float eps180 = 1.0f;
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// if (fabsf(fabsf(diff) - 180.0f) < eps180)
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// {
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// diff = (last_diff >= 0.0f) ? 180.0f : -180.0f;
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// }
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// else
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// {
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// last_diff = diff;
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// }
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// chassis_cmd_send.offset_angle = diff;
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//别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
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// static float angle;
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// angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机角度
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// #if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
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// if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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// else if (angle > 180.0f + YAW_ALIGN_ANGLE)
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
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// else
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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// #else // 小于180度
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// if (angle > YAW_ALIGN_ANGLE)
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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// else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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// else
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// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
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// #endif
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}
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/**
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* @brief 控制输入为遥控器(调试时)的模式和控制量设置
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*
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*/
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static void RemoteControlSet()
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{
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// 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?
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],底盘跟随云台
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{
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// around = 0;
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chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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around= chassis_cmd_send.offset_angle/360;
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}
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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
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{
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//gimbal_fetch_data.yaw_motor_total_angle = gimbal_fetch_data.yaw_motor_total_angle-around*360;
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chassis_cmd_send.offset_angle = chassis_cmd_send.offset_angle - 360*around;
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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}
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// 云台参数,确定云台控制数据
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if (switch_is_mid(rc_data[TEMP].rc.switch_left)) // 左侧开关状态为[中],视觉模式
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{
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// 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
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// ...
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}
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// 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
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if (switch_is_down(rc_data[TEMP].rc.switch_left) )
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{ // 按照摇杆的输出大小进行角度增量,增益系数需调整
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gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_r_;
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gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_r1;
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}
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// 云台软件限位
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// 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
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chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_l_; // _水平方向
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chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_l1; // 1数值方向
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// // 发射参数
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// if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
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// ; // 弹舱舵机控制,待添加servo_motor模块,开启
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// else
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// ; // 弹舱舵机控制,待添加servo_motor模块,关闭
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// 摩擦轮控制,拨轮向上打为负,向下为正
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if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
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shoot_cmd_send.friction_mode = FRICTION_ON;
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else
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
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if (rc_data[TEMP].rc.dial < -500)
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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else
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shoot_cmd_send.load_mode = LOAD_STOP;
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// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
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shoot_cmd_send.shoot_rate = 8;
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}
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/**
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* @brief 输入为键鼠时模式和控制量设置
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*
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*/
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static void MouseKeySet()
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{
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chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].w * 300 - rc_data[TEMP].key[KEY_PRESS].s * 300; // 系数待测
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chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].s * 300 - rc_data[TEMP].key[KEY_PRESS].d * 300;
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gimbal_cmd_send.yaw += (float)rc_data[TEMP].mouse.x / 660 * 10; // 系数待测
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gimbal_cmd_send.pitch += (float)rc_data[TEMP].mouse.y / 660 * 10;
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 3) // Z键设置弹速
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{
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case 0:
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shoot_cmd_send.bullet_speed = 15;
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break;
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case 1:
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shoot_cmd_send.bullet_speed = 18;
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break;
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default:
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shoot_cmd_send.bullet_speed = 30;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 4) // E键设置发射模式
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{
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case 0:
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shoot_cmd_send.load_mode = LOAD_STOP;
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break;
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case 1:
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shoot_cmd_send.load_mode = LOAD_1_BULLET;
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break;
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case 2:
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shoot_cmd_send.load_mode = LOAD_3_BULLET;
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break;
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default:
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shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键开关弹舱
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{
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case 0:
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shoot_cmd_send.lid_mode = LID_OPEN;
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break;
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default:
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shoot_cmd_send.lid_mode = LID_CLOSE;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
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{
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case 0:
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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break;
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default:
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shoot_cmd_send.friction_mode = FRICTION_ON;
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 4) // C键设置底盘速度
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{
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case 0:
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chassis_cmd_send.chassis_speed_buff = 40;
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break;
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case 1:
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chassis_cmd_send.chassis_speed_buff = 60;
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break;
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case 2:
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chassis_cmd_send.chassis_speed_buff = 80;
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break;
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default:
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chassis_cmd_send.chassis_speed_buff = 100;
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break;
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}
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switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
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{
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case 1:
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break;
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default:
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break;
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}
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}
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/**
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* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
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* 停止的阈值'300'待修改成合适的值,或改为开关控制.
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*
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* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
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*
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*/
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static void EmergencyHandler()
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{
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// 右摇杆最下急停
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if (switch_is_down(rc_data[TEMP].rc.switch_right) || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
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{
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robot_state = ROBOT_STOP;
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gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
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chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
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shoot_cmd_send.shoot_mode = SHOOT_OFF;
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shoot_cmd_send.friction_mode = FRICTION_OFF;
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shoot_cmd_send.load_mode = LOAD_STOP;
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LOGERROR("[CMD] emergency stop!");
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}
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// 遥控器右侧开关为[上],恢复正常运行
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if (switch_is_mid(rc_data[TEMP].rc.switch_right) || switch_is_up(rc_data[TEMP].rc.switch_right))
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{
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robot_state = ROBOT_READY;
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// shoot_cmd_send.shoot_mode = SHOOT_ON;//开摩擦轮？
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LOGINFO("[CMD] reinstate, robot ready");
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}
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}
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/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
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void RobotCMDTask()
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{
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// 从其他应用获取回传数据
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#ifdef ONE_BOARD
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SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
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#endif // GIMBAL_BOARD
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SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
|
||
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
|
||
|
||
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
|
||
CalcOffsetAngle();
|
||
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
|
||
if (switch_is_down(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],遥控器控制
|
||
RemoteControlSet();
|
||
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
|
||
MouseKeySet();
|
||
|
||
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)
|
||
|
||
// 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
|
||
#ifdef ONE_BOARD
|
||
PubPushMessage(chassis_cmd_pub, (void *)&chassis_cmd_send);
|
||
#endif // ONE_BOARD
|
||
#ifdef GIMBAL_BOARD
|
||
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
|
||
#endif // GIMBAL_BOARD
|
||
PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send);
|
||
PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send);
|
||
// VisionSend(&vision_send_data);
|
||
}
|