223 lines
4.4 KiB
C
223 lines
4.4 KiB
C
/*
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该任务用来处理来自不同控制方式下传回的期望的控制指令在此处统一为通用格式的控制指令发送给其他任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cmd.h"
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#include "gpio.h"
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#include "user_math.h"
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#include <string.h>
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/* Private function -------------------------------------------------------- */
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/*Export function --------------------------------------------------------------*/
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#ifdef dr16_t
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#else
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#endif
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int8_t CMD_Init(CMD_t *cmd){
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/*若主结构体为空 自动返回错误 */
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if(cmd == NULL) return-1;
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/**/
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cmd->C_cmd.type =RC;
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cmd->C_cmd.mode =NORMAL;
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return 0;
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}
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static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) {
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/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
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// RC_dr16 ,
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// RC_r12ds
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//
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#ifdef r12ds_t
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/*乐迪反馈值转换(-1 -- 1 )范围*/
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if(rc->ch_x<0) cmd->Vx =map_fp32(rc->ch_x,-337,0,-1,0);
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else cmd->Vx =map_fp32(rc->ch_x,0,310,0,1);
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if(rc->ch_y<0) cmd->Vy =map_fp32(rc->ch_y,-260,0,-1,0);
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else cmd->Vy =map_fp32(rc->ch_y,0,312,0,1);
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if(rc->ch_w<0) cmd->Vw =map_fp32(rc->ch_w,-308,0,-1,0);
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else cmd->Vw =map_fp32(rc->ch_w,0,291,0,1);
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cmd->key_ctrl_l = rc->key [0];
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cmd->key_ctrl_r = rc->key [1];
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#elif defined(dr16_t)
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cmd->Vx = rc->ch_r_x;
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cmd->Vy = -rc->ch_r_y;
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cmd->Vw = rc->ch_l_x;
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cmd->poscamear = rc->ch_l_y;
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cmd->key_ctrl_l = rc->sw_l;
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cmd->key_ctrl_r = rc->sw_r ;
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#endif
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}
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/**
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* @brief rc失控时机器人恢复放松模式
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*
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* @param cmd 主结构体
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*/
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static void CMD_RcLostLogic(CMD_t *cmd){
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/* 机器人底盘运行模式恢复至放松模式 */
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cmd->C_cmd.mode = RELAXED;
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}
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int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
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if (cmd == NULL) return -1;
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if (rc == NULL) return -1;
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#ifdef dr16_t
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/*c当rc丢控时，恢复机器人至默认状态 */
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if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
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CMD_RcLostLogic(cmd);
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} else {
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CMD_RcLogic(rc, cmd);
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}
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#endif
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return 0;
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}
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int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
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if(cmd == NULL) return -1;
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if(n == NULL) return -1;
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cmd->cmd_status = n->status_fromnuc;
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cmd->raw_status = n->ctrl_status;
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for (int i = 0; i < 7; ++i)
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{ // 从最低位到最高位遍历
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cmd->status[i] = ((cmd->raw_status) & (1 << i)) ? 1 : 0;
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}
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switch(cmd->cmd_status){
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case MID:
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cmd->C_navi.vx = n->navi.vx;
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cmd->C_navi.vy = n->navi.vy;
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cmd->C_navi.wz = n->navi.wz;
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break;
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case PICK :
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cmd ->C_pick .posx =n->pick .posx ;
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cmd ->C_pick .posy =n->pick .posy ;
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cmd ->C_pick .posw =n->pick .posw ;
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break;
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}
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return 0;
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}
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/*
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遥控器模式重新分配
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这一部分没有设置具体的模式名，后期根据需要修改
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遥控器模式(RC):
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左按键 --- 右按键
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mode1
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up no_mode
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mode2
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mode3
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down no_mode
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mode4
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mid auto_navi(0x09)雷达导航
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*/
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int8_t CMD_CtrlSet(CMD_t *cmd) {
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if(cmd == NULL) return -1;
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if(cmd->key_ctrl_l == CMD_SW_UP)//当左拨杆打到最上面时 强制使用遥控器控制
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{
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/*遥控器模式下，右按键三种状态分配*/
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if(cmd->key_ctrl_r==CMD_SW_UP)
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode = RC_MODE1;
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}
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if(cmd->key_ctrl_r==CMD_SW_MID)
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode = RC_NO_MODE;
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}
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if(cmd->key_ctrl_r==CMD_SW_DOWN)//遥控器控制模式下，右拨杆上时启动
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode =RC_MODE2;
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}
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}
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else if(cmd->key_ctrl_l ==CMD_SW_DOWN)
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{
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if(cmd->key_ctrl_r==CMD_SW_UP)
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode = RC_MODE3;
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}
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if(cmd->key_ctrl_r==CMD_SW_MID)
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode = RC_NO_MODE;
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}
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if(cmd->key_ctrl_r==CMD_SW_DOWN)//遥控器控制模式下，右拨杆上时启动
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{
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cmd->C_cmd.type = RC;
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cmd->C_cmd.mode = RC_MODE4;
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}
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}
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else //左按键打到中间，自动模式
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{
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if( cmd->key_ctrl_l==CMD_SW_MID ){
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cmd->C_cmd.type = MID_NAVI;
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cmd->C_cmd.mode = RC_NO_MODE;
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switch(cmd->cmd_status)
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{
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case MID://雷达，视觉导航
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cmd->C_cmd.type = MID_NAVI;
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break;
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}
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}
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}
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return 0;
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}
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