//@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; } // /** // * @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); }