From 2ea642d04a58058d28b7adca266f2e99cacaa13e Mon Sep 17 00:00:00 2001 From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com> Date: Wed, 24 Dec 2025 14:11:50 +0800 Subject: [PATCH] servo init --- User_Code/module/periph/servo/mg996/mg996.c | 41 +- User_Code/module/periph/servo/mg996/mg996.h | 73 +- User_Code/user_task/dev_tasks/dev_cmd.c | 1050 +++++++++---------- User_Code/user_task/dev_tasks/dev_cmd.h | 36 +- 4 files changed, 648 insertions(+), 552 deletions(-) diff --git a/User_Code/module/periph/servo/mg996/mg996.c b/User_Code/module/periph/servo/mg996/mg996.c index e81923a..107cd61 100644 --- a/User_Code/module/periph/servo/mg996/mg996.c +++ b/User_Code/module/periph/servo/mg996/mg996.c @@ -1,5 +1,40 @@ -// -// Created by ASUS on 2025/11/17. -// +/** + * @file mg996.c + * @author TuxMonkey (https://github.com/TuxMonkey) + * @brief MG996 servo motor driver (MG996舵机驱动) + * @version 1.0 + * @date 2024-06-10 +**/ +#include +#include #include "mg996.h" +#include "bsp_pwm.h" + + +MG996Instance *MG996Register(MG996_Init_Config_s *config) +{ + MG996Instance *mg996 = (MG996Instance *) malloc(sizeof(MG996Instance)); + memset(mg996, 0, sizeof(MG996Instance)); + + mg996->pwm = PWMRegister(config->pwm_config); + mg996->min_dutyratio = config->min_dutyratio; + mg996->max_dutyratio = config->max_dutyratio; + mg996->min_angle = config->min_angle; + mg996->max_angle = config->max_angle; + + return mg996; +} + +void MG996SetAngle(MG996Instance *mg996, float angle) +{ + if (angle < mg996->min_angle) + angle = mg996->min_angle; + else if (angle > mg996->max_angle) + angle = mg996->max_angle; + + auto ratio = (angle - mg996->min_angle) / (mg996->max_angle - mg996->min_angle); + auto dutyratio = mg996->min_dutyratio + ratio * (mg996->max_dutyratio - mg996->min_dutyratio); + + PWMSetDutyRatio(mg996->pwm, dutyratio); +} diff --git a/User_Code/module/periph/servo/mg996/mg996.h b/User_Code/module/periph/servo/mg996/mg996.h index 02dccd7..4ec536b 100644 --- a/User_Code/module/periph/servo/mg996/mg996.h +++ b/User_Code/module/periph/servo/mg996/mg996.h @@ -1,8 +1,69 @@ -// -// Created by ASUS on 2025/11/17. -// +/** +* @file mg996.h + * @author TuxMonkey (https://github.com/TuxMonkey) + * @brief MG996 servo motor driver header (MG996舵机驱动头文件) + * @version 1.0 + * @date 2024-06-10 +**/ -#ifndef TRONONEH7_SCAFFOLD_MG996_H -#define TRONONEH7_SCAFFOLD_MG996_H +#ifndef MG996_H +#define MG996_H -#endif //TRONONEH7_SCAFFOLD_MG996_H +#ifdef __cplusplus +extern "C" +{ + + + +#endif + +#include + +// 前向声明PWM实例结构体，与bsp_pwm.h中的类型保持一致 +typedef struct PWMInstance PWMInstance; + +/** + * @brief MG996舵机初始化配置结构体 + */ +typedef struct +{ + void *pwm_config; /**< PWM配置参数 */ + float min_dutyratio; /**< 最小占空比 (0.0 - 1.0) */ + float max_dutyratio; /**< 最大占空比 (0.0 - 1.0) */ + float min_angle; /**< 最小角度 (度) */ + float max_angle; /**< 最大角度 (度) */ +} MG996_Init_Config_s; + +/** + * @brief MG996舵机实例结构体 + */ +typedef struct +{ + PWMInstance *pwm; /**< PWM控制器实例指针，类型与bsp_pwm.h中的PWMInstance一致 */ + float min_dutyratio; /**< 最小占空比 */ + float max_dutyratio; /**< 最大占空比 */ + float min_angle; /**< 最小角度 (度) */ + float max_angle; /**< 最大角度 (度) */ +} MG996Instance; + +/** + * @brief 注册并初始化MG996舵机 + * + * @param config 初始化配置参数 + * @return MG996Instance* 舵机实例指针，失败返回NULL + */ +MG996Instance *MG996Register(MG996_Init_Config_s *config); + +/** + * @brief 设置舵机角度 + * + * @param mg996 舵机实例指针 + * @param angle 目标角度 (度) + */ +void MG996SetAngle(MG996Instance *mg996, float angle); + +#ifdef __cplusplus +} +#endif + +#endif /* MG996_H */ diff --git a/User_Code/user_task/dev_tasks/dev_cmd.c b/User_Code/user_task/dev_tasks/dev_cmd.c index 8200e3d..2496f9e 100644 --- a/User_Code/user_task/dev_tasks/dev_cmd.c +++ b/User_Code/user_task/dev_tasks/dev_cmd.c @@ -1,528 +1,528 @@ -//@todo:仅为开发板测试使用cmd.c 后续改进 - -// app -#include "robot_def.h" -#include "dev_cmd.h" -// module -#include "rc.h" -#include "ins_task.h" -// #include "master_process.h" -// #include "message_center.h" -#include "general_def.h" -// #include "dji_motor.h" -#include "buzzer.h" -// bsp -#include "bsp_dwt.h" -#include "bsp_log.h" - -// 私有宏,自动将编码器转换成角度值 -#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 -#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 - -/* cmd应用包含的模块实例指针和交互信息存储*/ -#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 -#include "can_comm.h" -static CANCommInstance *cmd_can_comm; // 双板通信 -#endif -#ifdef ONE_BOARD -static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者 -static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 -#endif // ONE_BOARD - -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 -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_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 -static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者 -static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 -static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 - -static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 -static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 -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 -static Work_Mode_e vision_work_mode; -static float chassis_speed_buff; -static uint8_t EmergencyHandlerflag = 0; -static gimbal_control_e Gimbal_control; -static float Gimbal[2]; -static int keyC_flag = 0; -static int keyC_last_flag = 0; -static int cap_flag = 0; //用于超电回复死区 - -static uint16_t chassis_power_robot_level; -// PITCH轴限位，带测定 - -#define PITCH_MAX 21 -#define PITCH_MIN -19 - -void RobotCMDInit() -{ - Gimbal[0] = 0; - Gimbal[1] = 0; //初始化gimbal调参数组，以便Ozone寻地址 - 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 - - gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); - gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); - shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); - shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); - -#ifdef ONE_BOARD // 双板兼容 - chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); - chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); -#endif // ONE_BOARD -#ifdef GIMBAL_BOARD - CANComm_Init_Config_s comm_conf = { - .can_config = { - .can_handle = &hcan1, - .tx_id = 0x312, - .rx_id = 0x311, - }, - .recv_data_len = sizeof(Chassis_Upload_Data_s), - .send_data_len = sizeof(Chassis_Ctrl_Cmd_s), - }; - cmd_can_comm = CANCommInit(&comm_conf); -#endif // GIMBAL_BOARD - shoot_cmd_send.attack_mode = NORMAL; - gimbal_cmd_send.pitch = 0; - gimbal_cmd_send.yaw = 0; - gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; - 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 -} - -/** - * @brief 根据gimbal app传回的当前电机角度计算和零位的误差 - * 单圈绝对角度的范围是0~360,说明文档中有图示 - * - */ -static void CalcOffsetAngle() -{ - // 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 - static float angle; - angle = gimbal_fetch_data.yaw_angle; // 从云台获取的当前yaw电机单圈角度 -#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度 - if (angle > YAW_ALIGN_ANGLE) - chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; - else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f) - chassis_cmd_send. = angle - YAW_ALIGN_ANGLE; - else - chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f; -#else // 小于180度 - if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) - chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; - else if (angle > 180.0f + YAW_ALIGN_ANGLE) - chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f; - else - chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; -#endif -} - -/** - * @brief 控制输入为遥控器(调试时)的模式和控制量设置 - * - */ -static void RemoteControlSet() -{ - chassis_cmd_send.rotate_control = 1.0; - // 云台软件限位 - if (gimbal_cmd_send.pitch > PITCH_MAX) - gimbal_cmd_send.pitch = PITCH_MAX; - else if (gimbal_cmd_send.pitch < PITCH_MIN) - gimbal_cmd_send.pitch = PITCH_MIN; - - // 左侧开关状态为[中]且右侧开关为[下],视觉模式 - if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) - { - //gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : -(vision_recv_data->yaw)); // 由于视觉调试时角度给反所以添加负号-H - //gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch); - // 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 - chassis_cmd_send.chassis_mode = CHASSIS_RE_ROTATE; // 由于24赛季检录需要滑环检测故调整，调试视觉时请取消注释 - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - // chassis_cmd_send.fly_flag = 1; - // ... - } - if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_mid(rc_data[TEMP].rc.switch_right)) - { - chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - } - // 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) - { - // 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 += 0.0025f * (float) rc_data[TEMP].rc.rocker_l_; - gimbal_cmd_send.pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_l1; - // gimbal_cmd_send.yaw = Gimbal[0]; - // gimbal_cmd_send.pitch = Gimbal[1]; - // Gimbal[]用于gimbal调参（阶跃响应），需要调参时取消注释 - } - if (switch_is_down(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) - // 右侧开关状态[下],底盘小陀螺 - { - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE_REMOTE; // CHASSIS_ROTATE - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - } - if (switch_is_down(rc_data[TEMP].rc.switch_left) && 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 - { - chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - } - - - // 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 - chassis_cmd_send.vx = 80.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向 - chassis_cmd_send.vy = 80.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1竖直方向 - - // 发射参数 - - // 摩擦轮控制,拨轮向上打为负,向下为正 - if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮 - shoot_cmd_send.friction_mode = FRICTION_ON; - else - shoot_cmd_send.friction_mode = FRICTION_OFF; - // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 - if (rc_data[TEMP].rc.dial < -500) - { - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; // LOAD_BURSTFIRELOAD_1_BULLET - } - else - shoot_cmd_send.load_mode = LOAD_STOP; - // 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, - if (rc_data[TEMP].rc.switch_left == 3 && switch_is_down(rc_data[TEMP].rc.switch_right)) - { - shoot_cmd_send.friction_mode = FRICTION_ON; - if (vision_recv_data->target_state == READY_TO_FIRE) - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; - else - shoot_cmd_send.load_mode = LOAD_STOP; - } - shoot_cmd_send.shoot_rate = 13; -} - +// //@todo:仅为开发板测试使用cmd.c 后续改进 +// +// // app +// #include "robot_def.h" +// #include "dev_cmd.h" +// // module +// #include "rc.h" +// #include "ins_task.h" +// // #include "master_process.h" +// // #include "message_center.h" +// #include "general_def.h" +// // #include "dji_motor.h" +// #include "buzzer.h" +// // bsp +// #include "bsp_dwt.h" +// #include "bsp_log.h" +// +// // 私有宏,自动将编码器转换成角度值 +// #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 +// #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 +// +// /* cmd应用包含的模块实例指针和交互信息存储*/ +// #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 +// #include "can_comm.h" +// static CANCommInstance *cmd_can_comm; // 双板通信 +// #endif +// #ifdef ONE_BOARD +// static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者 +// static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 +// #endif // ONE_BOARD +// +// 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 +// 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_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 +// static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者 +// static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 +// static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 +// +// static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 +// static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 +// 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 +// static Work_Mode_e vision_work_mode; +// static float chassis_speed_buff; +// static uint8_t EmergencyHandlerflag = 0; +// static gimbal_control_e Gimbal_control; +// static float Gimbal[2]; +// static int keyC_flag = 0; +// static int keyC_last_flag = 0; +// static int cap_flag = 0; //用于超电回复死区 +// +// static uint16_t chassis_power_robot_level; +// // PITCH轴限位，带测定 +// +// #define PITCH_MAX 21 +// #define PITCH_MIN -19 +// +// void RobotCMDInit() +// { +// Gimbal[0] = 0; +// Gimbal[1] = 0; //初始化gimbal调参数组，以便Ozone寻地址 +// 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 +// +// gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); +// gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); +// shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); +// shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); +// +// #ifdef ONE_BOARD // 双板兼容 +// chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); +// chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); +// #endif // ONE_BOARD +// #ifdef GIMBAL_BOARD +// CANComm_Init_Config_s comm_conf = { +// .can_config = { +// .can_handle = &hcan1, +// .tx_id = 0x312, +// .rx_id = 0x311, +// }, +// .recv_data_len = sizeof(Chassis_Upload_Data_s), +// .send_data_len = sizeof(Chassis_Ctrl_Cmd_s), +// }; +// cmd_can_comm = CANCommInit(&comm_conf); +// #endif // GIMBAL_BOARD +// shoot_cmd_send.attack_mode = NORMAL; +// gimbal_cmd_send.pitch = 0; +// gimbal_cmd_send.yaw = 0; +// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; +// 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 +// } +// // /** -// * @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 -// * 停止的阈值'300'待修改成合适的值,或改为开关控制. -// * -// * @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 +// * @brief 根据gimbal app传回的当前电机角度计算和零位的误差 +// * 单圈绝对角度的范围是0~360,说明文档中有图示 // * // */ -static void EmergencyHandler() -{ - // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正 - if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断 - { - robot_state = ROBOT_STOP; - gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; - chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; - shoot_cmd_send.shoot_mode = SHOOT_OFF; - shoot_cmd_send.friction_mode = FRICTION_OFF; - shoot_cmd_send.load_mode = LOAD_STOP; - LOGERROR("[CMD] emergency stop!"); - } - // 遥控器右侧开关为[上],恢复正常运行 - if (switch_is_up(rc_data[TEMP].rc.switch_right)) - { - EmergencyHandlerflag = 1; - } - if (switch_is_mid(rc_data[TEMP].rc.switch_right) && EmergencyHandlerflag == 1) - { - robot_state = ROBOT_READY; - shoot_cmd_send.shoot_mode = SHOOT_ON; - - LOGINFO("[CMD] reinstate, robot ready"); - EmergencyHandlerflag = 0; - gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 - gimbal_cmd_send.pitch = 0; - } - // 此处为cyx设置，将遥控器急停恢复设置为右上然后右中组合，以防键鼠控制无法急停等 - // 故不建议在右上添加底盘跟随或小陀螺（surprise） - 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 - { - switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C] % 2) // ctrl+c 进入急停 - { - case 0: - robot_state = ROBOT_READY; - shoot_cmd_send.shoot_mode = SHOOT_ON; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - break; - - default: - robot_state = ROBOT_STOP; - gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; - chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; - shoot_cmd_send.shoot_mode = SHOOT_OFF; - shoot_cmd_send.friction_mode = FRICTION_OFF; - shoot_cmd_send.load_mode = LOAD_STOP; - - gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 - gimbal_cmd_send.pitch = 0; - break; - } - } -} - -static void MouseKeySet() -{ - shoot_cmd_send.shoot_rate = 8; - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; - chassis_cmd_send.heat_control = HOLD; - chassis_cmd_send.rotate_control = 1.0; - chassis_cmd_send.fly_flag = 0; - chassis_cmd_send.vy = 0.55 * (rc_data[TEMP].key[KEY_PRESS].w * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].s * - chassis_speed_buff); // 系数待测，平移运动功率限制！ - chassis_cmd_send.vx = 0.55 * (rc_data[TEMP].key[KEY_PRESS].a * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].d * - chassis_speed_buff); - switch (rc_data[TEMP].key[KEY_PRESS].x) // X键刷新UI - { - case 1: - chassis_cmd_send.ui_mode = UI_REFRESH; - break; - default: - chassis_cmd_send.ui_mode = UI_KEEP; - break; - } - - switch (rc_data[TEMP].mouse.press_r) // 鼠标右键开启自瞄 - { - case 0: - gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 - gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; - // pitch限位 - if (gimbal_cmd_send.pitch > PITCH_MAX) - gimbal_cmd_send.pitch = PITCH_MAX; - else if (gimbal_cmd_send.pitch < PITCH_MIN) - gimbal_cmd_send.pitch = PITCH_MIN; - break; - - default: - shoot_cmd_send.shoot_rate = 13; - if (vision_recv_data->target_state == NO_TARGET) - { - gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 - gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; - } - else - { - gimbal_cmd_send.yaw = -(vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw); - gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 - ? gimbal_cmd_send.pitch - : vision_recv_data->pitch); - } - // 视觉状态 - if (vision_recv_data->target_state == NO_TARGET) - chassis_cmd_send.vision_mode = UNLOCK; - else if (vision_recv_data->target_state == TARGET_CONVERGING) - chassis_cmd_send.vision_mode = CONVERGE; - else if (vision_recv_data->target_state == READY_TO_FIRE) - chassis_cmd_send.vision_mode = LOCK; - else - chassis_cmd_send.vision_mode = UNLOCK; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键设置切换发射模式：单发/连发 - { - case 0: - shoot_cmd_send.load_mode = LOAD_1_BULLET; - chassis_cmd_send.load_mode = LOAD_1_BULLET; - break; - case 1: - shoot_cmd_send.load_mode = LOAD_BURSTFIRE; - chassis_cmd_send.load_mode = LOAD_BURSTFIRE; - break; - //提前为chassis赋值，以在发弹前更新UI - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键设置切换射频为狂暴模式 - { - case 0: - chassis_cmd_send.attack_mode = NORMAL; - break; - case 1: - chassis_cmd_send.attack_mode = VIOLENT; - chassis_cmd_send.heat_control = FIGHT; - shoot_cmd_send.shoot_rate = 25; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 2) // Z键设置是否接入热量闭环 - { - case 0: - break; - case 1: - chassis_cmd_send.heat_control = FIGHT; - break; - } - switch (rc_data[TEMP].mouse.press_l) // 鼠标左键射击 - { - case 0: - shoot_cmd_send.load_mode = LOAD_STOP; - break; - default: - if (shoot_cmd_send.friction_mode != FRICTION_ON) - shoot_cmd_send.load_mode = LOAD_STOP; // 摩擦轮不开启则拨盘不转, 防止卡弹 - if (rc_data[TEMP].mouse.press_r && (vision_recv_data->target_state != READY_TO_FIRE)) - { - shoot_cmd_send.load_mode = LOAD_STOP; - break; - } - if (chassis_fetch_data.over_heat_flag == 1 && chassis_cmd_send.heat_control == HOLD) - { - shoot_cmd_send.load_mode = LOAD_STOP; - break; - } - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 2) // G键狗洞模式 - { - case 0: - chassis_cmd_send.tunnel_mode = TUNNEL_OFF; - break; - default: - gimbal_cmd_send.pitch = 0; - chassis_cmd_send.tunnel_mode = TUNNEL_ON; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 - { - case 0: - shoot_cmd_send.friction_mode = FRICTION_OFF; - break; - default: - shoot_cmd_send.friction_mode = FRICTION_ON; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键设置底盘运动模式 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键设置45度转向 - { - case 0: - chassis_cmd_send.fly_flag = 0; - break; - default: - chassis_cmd_send.offset_angle += 45; - chassis_cmd_send.fly_flag = 1; - break; - } - switch (rc_data[TEMP].key[KEY_PRESS].shift) // 按shift使用超级电容 - { - case 1: - chassis_speed_buff = 40000; - break; - default: - chassis_speed_buff = 13000; - break; - } - //建议增加超级电容电压控制，如小于12V时降低增速等，充至16V恢复等 - //此处为24赛季双板通信出现问题故未修改（云台板收不到底盘板反馈信息：未解决） - - //TODO:B键设置功率 - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 11) - { - case 0: - chassis_power_robot_level = 0; - break; - case 1: - chassis_power_robot_level = 1; - break; - case 2: - chassis_power_robot_level = 2; - break; - case 3: - chassis_power_robot_level = 3; - break; - case 4: - chassis_power_robot_level = 4; - break; - case 5: - chassis_power_robot_level = 5; - break; - case 6: - chassis_power_robot_level = 6; - break; - case 7: - chassis_power_robot_level = 7; - break; - case 8: - chassis_power_robot_level = 8; - break; - case 9: - chassis_power_robot_level = 9; - break; - case 10: - chassis_power_robot_level = 10; - break; - default: - chassis_power_robot_level = 0; - break; - } - // 24hl：有点蠢，修改等级需要急停 -} - - -/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ -void RobotCMDTask() -{ - chassis_cmd_send.ui_mode = UI_KEEP; - // 从其他应用获取回传数据 -#ifdef ONE_BOARD - SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data); -#endif // ONE_BOARD -#ifdef GIMBAL_BOARD - chassis_fetch_data = *(Chassis_Upload_Data_s *) CANCommGet(cmd_can_comm); -#endif // GIMBAL_BOARD - 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_up(rc_data[TEMP].rc.switch_left)) - { - MouseKeySet(); // 调试专用 - } - else - { - RemoteControlSet(); - } // 遥控器左侧开关状态为[上],键盘控制 - 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.self_color, vision_work_mode, 30); //30为弹速 - //顺序为pitch，yaw（需发送总角度，以防出现角度跟随bug），roll - VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.YawTotalAngle, - gimbal_fetch_data.gimbal_imu_data.Roll); - - // 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 - shoot_cmd_send.bullet_speed = chassis_fetch_data.bullet_speed; - chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode; - chassis_cmd_send.yaw_angle = gimbal_fetch_data.gimbal_imu_data.Yaw; - chassis_cmd_send.pitch_angle = gimbal_fetch_data.pitch_angle; - chassis_cmd_send.init_totalangle = shoot_fetch_data.init_totalangle; - chassis_cmd_send.totalangle = shoot_fetch_data.totalangle; - chassis_cmd_send.chassis_power_robot_level = chassis_power_robot_level; - - -#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); - //chassis_cmd_send.yaw_motor_total_round_angle = gimbal_fetch_data.yaw_motor_total_round_angle; -#endif // GIMBAL_BOARD - PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send); - PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send); -} +// static void CalcOffsetAngle() +// { +// // 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 +// static float angle; +// angle = gimbal_fetch_data.yaw_angle; // 从云台获取的当前yaw电机单圈角度 +// #if YAW_ECD_GREATER_THAN_4096 // 如果大于180度 +// if (angle > YAW_ALIGN_ANGLE) +// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; +// else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f) +// chassis_cmd_send. = angle - YAW_ALIGN_ANGLE; +// else +// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f; +// #else // 小于180度 +// if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE) +// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; +// else if (angle > 180.0f + YAW_ALIGN_ANGLE) +// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f; +// else +// chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE; +// #endif +// } +// +// /** +// * @brief 控制输入为遥控器(调试时)的模式和控制量设置 +// * +// */ +// static void RemoteControlSet() +// { +// chassis_cmd_send.rotate_control = 1.0; +// // 云台软件限位 +// if (gimbal_cmd_send.pitch > PITCH_MAX) +// gimbal_cmd_send.pitch = PITCH_MAX; +// else if (gimbal_cmd_send.pitch < PITCH_MIN) +// gimbal_cmd_send.pitch = PITCH_MIN; +// +// // 左侧开关状态为[中]且右侧开关为[下],视觉模式 +// if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) +// { +// //gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : -(vision_recv_data->yaw)); // 由于视觉调试时角度给反所以添加负号-H +// //gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 ? gimbal_cmd_send.pitch : vision_recv_data->pitch); +// // 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 +// chassis_cmd_send.chassis_mode = CHASSIS_RE_ROTATE; // 由于24赛季检录需要滑环检测故调整，调试视觉时请取消注释 +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// // chassis_cmd_send.fly_flag = 1; +// // ... +// } +// if (switch_is_mid(rc_data[TEMP].rc.switch_left) && switch_is_mid(rc_data[TEMP].rc.switch_right)) +// { +// chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// } +// // 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) +// { +// // 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 += 0.0025f * (float) rc_data[TEMP].rc.rocker_l_; +// gimbal_cmd_send.pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_l1; +// // gimbal_cmd_send.yaw = Gimbal[0]; +// // gimbal_cmd_send.pitch = Gimbal[1]; +// // Gimbal[]用于gimbal调参（阶跃响应），需要调参时取消注释 +// } +// if (switch_is_down(rc_data[TEMP].rc.switch_left) && switch_is_down(rc_data[TEMP].rc.switch_right)) +// // 右侧开关状态[下],底盘小陀螺 +// { +// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE_REMOTE; // CHASSIS_ROTATE +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// } +// if (switch_is_down(rc_data[TEMP].rc.switch_left) && 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 +// { +// chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// } +// +// +// // 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 +// chassis_cmd_send.vx = 80.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向 +// chassis_cmd_send.vy = 80.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1竖直方向 +// +// // 发射参数 +// +// // 摩擦轮控制,拨轮向上打为负,向下为正 +// if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮 +// shoot_cmd_send.friction_mode = FRICTION_ON; +// else +// shoot_cmd_send.friction_mode = FRICTION_OFF; +// // 拨弹控制,遥控器固定为一种拨弹模式,可自行选择 +// if (rc_data[TEMP].rc.dial < -500) +// { +// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; // LOAD_BURSTFIRELOAD_1_BULLET +// } +// else +// shoot_cmd_send.load_mode = LOAD_STOP; +// // 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, +// if (rc_data[TEMP].rc.switch_left == 3 && switch_is_down(rc_data[TEMP].rc.switch_right)) +// { +// shoot_cmd_send.friction_mode = FRICTION_ON; +// if (vision_recv_data->target_state == READY_TO_FIRE) +// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; +// else +// shoot_cmd_send.load_mode = LOAD_STOP; +// } +// shoot_cmd_send.shoot_rate = 13; +// } +// +// // /** +// // * @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 +// // * 停止的阈值'300'待修改成合适的值,或改为开关控制. +// // * +// // * @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 +// // * +// // */ +// static void EmergencyHandler() +// { +// // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正 +// if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断 +// { +// robot_state = ROBOT_STOP; +// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; +// chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; +// shoot_cmd_send.shoot_mode = SHOOT_OFF; +// shoot_cmd_send.friction_mode = FRICTION_OFF; +// shoot_cmd_send.load_mode = LOAD_STOP; +// LOGERROR("[CMD] emergency stop!"); +// } +// // 遥控器右侧开关为[上],恢复正常运行 +// if (switch_is_up(rc_data[TEMP].rc.switch_right)) +// { +// EmergencyHandlerflag = 1; +// } +// if (switch_is_mid(rc_data[TEMP].rc.switch_right) && EmergencyHandlerflag == 1) +// { +// robot_state = ROBOT_READY; +// shoot_cmd_send.shoot_mode = SHOOT_ON; +// +// LOGINFO("[CMD] reinstate, robot ready"); +// EmergencyHandlerflag = 0; +// gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 +// gimbal_cmd_send.pitch = 0; +// } +// // 此处为cyx设置，将遥控器急停恢复设置为右上然后右中组合，以防键鼠控制无法急停等 +// // 故不建议在右上添加底盘跟随或小陀螺（surprise） +// 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 +// { +// switch (rc_data[TEMP].key_count[KEY_PRESS_WITH_CTRL][Key_C] % 2) // ctrl+c 进入急停 +// { +// case 0: +// robot_state = ROBOT_READY; +// shoot_cmd_send.shoot_mode = SHOOT_ON; +// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; +// break; +// +// default: +// robot_state = ROBOT_STOP; +// gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; +// chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; +// shoot_cmd_send.shoot_mode = SHOOT_OFF; +// shoot_cmd_send.friction_mode = FRICTION_OFF; +// shoot_cmd_send.load_mode = LOAD_STOP; +// +// gimbal_cmd_send.yaw = -gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; // 急停时设定值保持与实际值同步，避免恢复时疯转 +// gimbal_cmd_send.pitch = 0; +// break; +// } +// } +// } +// +// static void MouseKeySet() +// { +// shoot_cmd_send.shoot_rate = 8; +// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; +// chassis_cmd_send.heat_control = HOLD; +// chassis_cmd_send.rotate_control = 1.0; +// chassis_cmd_send.fly_flag = 0; +// chassis_cmd_send.vy = 0.55 * (rc_data[TEMP].key[KEY_PRESS].w * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].s * +// chassis_speed_buff); // 系数待测，平移运动功率限制！ +// chassis_cmd_send.vx = 0.55 * (rc_data[TEMP].key[KEY_PRESS].a * chassis_speed_buff - rc_data[TEMP].key[KEY_PRESS].d * +// chassis_speed_buff); +// switch (rc_data[TEMP].key[KEY_PRESS].x) // X键刷新UI +// { +// case 1: +// chassis_cmd_send.ui_mode = UI_REFRESH; +// break; +// default: +// chassis_cmd_send.ui_mode = UI_KEEP; +// break; +// } +// +// switch (rc_data[TEMP].mouse.press_r) // 鼠标右键开启自瞄 +// { +// case 0: +// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 +// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; +// // pitch限位 +// if (gimbal_cmd_send.pitch > PITCH_MAX) +// gimbal_cmd_send.pitch = PITCH_MAX; +// else if (gimbal_cmd_send.pitch < PITCH_MIN) +// gimbal_cmd_send.pitch = PITCH_MIN; +// break; +// +// default: +// shoot_cmd_send.shoot_rate = 13; +// if (vision_recv_data->target_state == NO_TARGET) +// { +// gimbal_cmd_send.yaw += (float) rc_data[TEMP].mouse.x / 660 * 8; // 系数待测 +// gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 8; +// } +// else +// { +// gimbal_cmd_send.yaw = -(vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw); +// gimbal_cmd_send.pitch = (vision_recv_data->pitch == 0 +// ? gimbal_cmd_send.pitch +// : vision_recv_data->pitch); +// } +// // 视觉状态 +// if (vision_recv_data->target_state == NO_TARGET) +// chassis_cmd_send.vision_mode = UNLOCK; +// else if (vision_recv_data->target_state == TARGET_CONVERGING) +// chassis_cmd_send.vision_mode = CONVERGE; +// else if (vision_recv_data->target_state == READY_TO_FIRE) +// chassis_cmd_send.vision_mode = LOCK; +// else +// chassis_cmd_send.vision_mode = UNLOCK; +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键设置切换发射模式：单发/连发 +// { +// case 0: +// shoot_cmd_send.load_mode = LOAD_1_BULLET; +// chassis_cmd_send.load_mode = LOAD_1_BULLET; +// break; +// case 1: +// shoot_cmd_send.load_mode = LOAD_BURSTFIRE; +// chassis_cmd_send.load_mode = LOAD_BURSTFIRE; +// break; +// //提前为chassis赋值，以在发弹前更新UI +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_V] % 2) // V键设置切换射频为狂暴模式 +// { +// case 0: +// chassis_cmd_send.attack_mode = NORMAL; +// break; +// case 1: +// chassis_cmd_send.attack_mode = VIOLENT; +// chassis_cmd_send.heat_control = FIGHT; +// shoot_cmd_send.shoot_rate = 25; +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Z] % 2) // Z键设置是否接入热量闭环 +// { +// case 0: +// break; +// case 1: +// chassis_cmd_send.heat_control = FIGHT; +// break; +// } +// switch (rc_data[TEMP].mouse.press_l) // 鼠标左键射击 +// { +// case 0: +// shoot_cmd_send.load_mode = LOAD_STOP; +// break; +// default: +// if (shoot_cmd_send.friction_mode != FRICTION_ON) +// shoot_cmd_send.load_mode = LOAD_STOP; // 摩擦轮不开启则拨盘不转, 防止卡弹 +// if (rc_data[TEMP].mouse.press_r && (vision_recv_data->target_state != READY_TO_FIRE)) +// { +// shoot_cmd_send.load_mode = LOAD_STOP; +// break; +// } +// if (chassis_fetch_data.over_heat_flag == 1 && chassis_cmd_send.heat_control == HOLD) +// { +// shoot_cmd_send.load_mode = LOAD_STOP; +// break; +// } +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 2) // G键狗洞模式 +// { +// case 0: +// chassis_cmd_send.tunnel_mode = TUNNEL_OFF; +// break; +// default: +// gimbal_cmd_send.pitch = 0; +// chassis_cmd_send.tunnel_mode = TUNNEL_ON; +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮 +// { +// case 0: +// shoot_cmd_send.friction_mode = FRICTION_OFF; +// break; +// default: +// shoot_cmd_send.friction_mode = FRICTION_ON; +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键设置底盘运动模式 +// { +// case 0: +// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; +// break; +// default: +// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; +// break; +// } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键设置45度转向 +// { +// case 0: +// chassis_cmd_send.fly_flag = 0; +// break; +// default: +// chassis_cmd_send.offset_angle += 45; +// chassis_cmd_send.fly_flag = 1; +// break; +// } +// switch (rc_data[TEMP].key[KEY_PRESS].shift) // 按shift使用超级电容 +// { +// case 1: +// chassis_speed_buff = 40000; +// break; +// default: +// chassis_speed_buff = 13000; +// break; +// } +// //建议增加超级电容电压控制，如小于12V时降低增速等，充至16V恢复等 +// //此处为24赛季双板通信出现问题故未修改（云台板收不到底盘板反馈信息：未解决） +// +// //TODO:B键设置功率 +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_B] % 11) +// { +// case 0: +// chassis_power_robot_level = 0; +// break; +// case 1: +// chassis_power_robot_level = 1; +// break; +// case 2: +// chassis_power_robot_level = 2; +// break; +// case 3: +// chassis_power_robot_level = 3; +// break; +// case 4: +// chassis_power_robot_level = 4; +// break; +// case 5: +// chassis_power_robot_level = 5; +// break; +// case 6: +// chassis_power_robot_level = 6; +// break; +// case 7: +// chassis_power_robot_level = 7; +// break; +// case 8: +// chassis_power_robot_level = 8; +// break; +// case 9: +// chassis_power_robot_level = 9; +// break; +// case 10: +// chassis_power_robot_level = 10; +// break; +// default: +// chassis_power_robot_level = 0; +// break; +// } +// // 24hl：有点蠢，修改等级需要急停 +// } +// +// +// /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ +// void RobotCMDTask() +// { +// chassis_cmd_send.ui_mode = UI_KEEP; +// // 从其他应用获取回传数据 +// #ifdef ONE_BOARD +// SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data); +// #endif // ONE_BOARD +// #ifdef GIMBAL_BOARD +// chassis_fetch_data = *(Chassis_Upload_Data_s *) CANCommGet(cmd_can_comm); +// #endif // GIMBAL_BOARD +// 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_up(rc_data[TEMP].rc.switch_left)) +// { +// MouseKeySet(); // 调试专用 +// } +// else +// { +// RemoteControlSet(); +// } // 遥控器左侧开关状态为[上],键盘控制 +// 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.self_color, vision_work_mode, 30); //30为弹速 +// //顺序为pitch，yaw（需发送总角度，以防出现角度跟随bug），roll +// VisionSetAltitude(gimbal_fetch_data.gimbal_imu_data.Pitch, gimbal_fetch_data.gimbal_imu_data.YawTotalAngle, +// gimbal_fetch_data.gimbal_imu_data.Roll); +// +// // 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 +// shoot_cmd_send.bullet_speed = chassis_fetch_data.bullet_speed; +// chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode; +// chassis_cmd_send.yaw_angle = gimbal_fetch_data.gimbal_imu_data.Yaw; +// chassis_cmd_send.pitch_angle = gimbal_fetch_data.pitch_angle; +// chassis_cmd_send.init_totalangle = shoot_fetch_data.init_totalangle; +// chassis_cmd_send.totalangle = shoot_fetch_data.totalangle; +// chassis_cmd_send.chassis_power_robot_level = chassis_power_robot_level; +// +// +// #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); +// //chassis_cmd_send.yaw_motor_total_round_angle = gimbal_fetch_data.yaw_motor_total_round_angle; +// #endif // GIMBAL_BOARD +// PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send); +// PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send); +// } diff --git a/User_Code/user_task/dev_tasks/dev_cmd.h b/User_Code/user_task/dev_tasks/dev_cmd.h index ee70629..5570b28 100644 --- a/User_Code/user_task/dev_tasks/dev_cmd.h +++ b/User_Code/user_task/dev_tasks/dev_cmd.h @@ -1,20 +1,20 @@ +// // +// // Created by ASUS on 2025/12/15. +// // // -// Created by ASUS on 2025/12/15. +// #ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H +// #define TRONONEH7_SCAFFOLD_DEV_CMD_H // - -#ifndef TRONONEH7_SCAFFOLD_DEV_CMD_H -#define TRONONEH7_SCAFFOLD_DEV_CMD_H - -/** - * @brief 机器人核心控制任务初始化,会被RobotInit()调用 - * - */ -void RobotCMDInit(); - -/** - * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) - * - */ -void RobotCMDTask(); - -#endif //TRONONEH7_SCAFFOLD_DEV_CMD_H +// /** +// * @brief 机器人核心控制任务初始化,会被RobotInit()调用 +// * +// */ +// void RobotCMDInit(); +// +// /** +// * @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) +// * +// */ +// void RobotCMDTask(); +// +// #endif //TRONONEH7_SCAFFOLD_DEV_CMD_H