diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx
index aeb487c..3ee1328 100644
--- a/MDK-ARM/R2.uvoptx
+++ b/MDK-ARM/R2.uvoptx
@@ -160,6 +160,41 @@
1
LD_raw,0x0A
+
+ 2
+ 1
+ can,0x0A
+
+
+ 3
+ 1
+ UP,0x0A
+
+
+ 4
+ 1
+ cmd_rc,0x0A
+
+
+ 5
+ 1
+ chassis
+
+
+ 6
+ 1
+ nuc_raw,0x0A
+
+
+ 7
+ 1
+ nucbuf
+
+
+ 8
+ 1
+ cmd_fromnuc
+
0
@@ -387,7 +422,7 @@
Drivers/STM32F4xx_HAL_Driver
- 0
+ 1
0
0
0
@@ -659,7 +694,7 @@
Drivers/CMSIS
- 0
+ 1
0
0
0
@@ -679,7 +714,7 @@
Middlewares/FreeRTOS
- 0
+ 1
0
0
0
diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf
index 9d5cef0..5768f97 100644
Binary files a/MDK-ARM/R2/R2.axf and b/MDK-ARM/R2/R2.axf differ
diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c
index 8d720c2..f05467b 100644
--- a/User/Module/Chassis.c
+++ b/User/Module/Chassis.c
@@ -99,9 +99,9 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算
{
c->hopemotorout.OmniSpeedOut[3] = -Vx+Vy+Vw;//右前
- c->hopemotorout.OmniSpeedOut[1] = -Vx-Vy+Vw;//右后
+ c->hopemotorout.OmniSpeedOut[0] = -Vx-Vy+Vw;//右后
c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后
- c->hopemotorout.OmniSpeedOut[0] = Vx+Vy+Vw;//左前
+ c->hopemotorout.OmniSpeedOut[1] = Vx+Vy+Vw;//左前
}
//bool isArrive(fp32 real_pos,fp32 target_pos,fp32 mistake)
@@ -131,11 +131,23 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
/*
在cmd里对数据进行处理 包括方向和油门
6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同*/
- if(c->chassis_ctrl .mode != Pitch){
+ if(c->chassis_ctrl .mode == Pitch){
+ c->move_vec.Vw = 0;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ }
+ else if(c->chassis_ctrl .mode == UP_Adjust)
+ {
+ c->move_vec.Vw = ctrl->Vw*6000;
+ c->move_vec.Vx = 0;
+ c->move_vec.Vy = 0;
+ }
+ else {
c->move_vec.Vw = ctrl->Vw*6000;
c->move_vec.Vx = ctrl->Vy*6000;
c->move_vec.Vy = ctrl->Vx*6000;
}
+
break;
@@ -174,8 +186,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
break;
-
- case AUTO_PICK: //自动视觉
+ case AUTO_PICK: //自动视觉
c->move_vec.Vx =ctrl->Vx*6000 ;
c->move_vec.Vy =ctrl->Vy *6000;
@@ -208,7 +219,9 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
break ;
+
}
+ break ;
}
diff --git a/User/Module/config.c b/User/Module/config.c
index 8be6541..263d6ec 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -76,11 +76,11 @@ static const ConfigParam_t param ={
},
/*投球*/
.PitchConfig_Config = {
- .m2006_init_angle =-150,
+ .m2006_init_angle =-170,
.m2006_trigger_angle =0,
- .go1_init_position = 0,
- .go1_release_threshold =0,
- .m2006_Screw_init=0
+ .go1_init_position = -50,
+ .go1_release_threshold =-210,
+ .m2006_Screw_init=0,
},
diff --git a/User/Module/up.c b/User/Module/up.c
index bcb2dca..1019da9 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -56,10 +56,12 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
- u->motorfeedback .VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
- u->motorfeedback .VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
+ u->motorfeedback .VESC.VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
+ u->motorfeedback .VESC.VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
+
+ u->motorfeedback .Encoder .angle = can ->Oid.angle ;
+ u->motorfeedback .Encoder .ecd = can ->Oid.ecd ;
-
for(int i=0;i<4;i++){
u->motorfeedback .DJmotor_feedback[i].rpm =can ->motor .up_motor3508 .as_array [i].rotor_speed ;
u->motorfeedback .DJmotor_feedback[i].ecd =can ->motor .up_motor3508.as_array [i].rotor_ecd ;
@@ -231,7 +233,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
//
break;
-
+
case Pitch :
if (u->PitchContext .PitchState ==PITCH_PREPARE)
{
@@ -241,7 +243,13 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
Pitch_Process(u,out,c);
break ;
-
+ case UP_Adjust:
+ u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
+ u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
+
+ u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
+ u->motor_target .Pitch_M2006_angle=u->PitchContext.PitchConfig.m2006_Screw_init;
+ break ;
case Dribble:
{
/*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收 */
@@ -287,14 +295,10 @@ return 0;
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
{
- static fp32 go1_position,M2006_Screw_position ;
- static int is_initialize=1;
- if(is_initialize)
- {
- go1_position=u->PitchContext .PitchConfig .go1_init_position ;
- M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
- is_initialize=0;
- }
+
+// go1_position=u->PitchContext .PitchConfig .go1_init_position ;
+// M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
+
switch(u->PitchContext .PitchState){
@@ -313,12 +317,10 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
if(u->motorfeedback .DJmotor_feedback [0].total_angle >-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
{
- u->motor_target .go_shoot = go1_position;//go下拉
- u->motor_target .Pitch_M2006_angle = M2006_Screw_position;//丝杠上的2006
- go1_position = go1_position + c->Vx ;
- M2006_Screw_position=M2006_Screw_position+ c->Vy;
-
-
+ u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
+// u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
+// u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
+
}
break ;
@@ -336,6 +338,13 @@ return 0;
+int8_t Pitch_Adjust(UP_t *u, CAN_Output_t *out,CMD_t *c)
+{
+
+ u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
+ u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
+
+}
diff --git a/User/Module/up.h b/User/Module/up.h
index 54ce955..efd0b09 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -157,15 +157,23 @@ typedef struct{
CMD_t *cmd;
- struct{
-
+ struct{
+
+ struct{
fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm;
+ }VESC;
GO_MotorData_t *go_data;//存放go电机数据
DJmotor_feedback_t DJmotor_feedback[4];
-
+
+ struct {
+ uint32_t ecd;
+ float angle;
+
+ }Encoder;
+
}motorfeedback;
diff --git a/User/device/can_use.c b/User/device/can_use.c
index 1d22015..c6e47c2 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -73,8 +73,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
switch(raw[2])//判断指令id
{
case 0x01:
- feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24;//接收编码器值
- feedback->angle=feedback->ecd*360/CAN_ENCODER_RESOLUTION;
+ feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24;
+ feedback->angle=feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f;
break;
}
}
@@ -396,7 +396,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
// 存储消息到对应的电机结构体中
index = can_rx->rx_header.StdId - CAN_CHASSIS_M3508_M1_ID;
can->recive_flag |= 1 << (index);
- CAN_DJIMotor_Decode(&(can->motor.chassis5065.as_array[index]), can_rx->rx_data);
+ CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data);
detect_hook(CHASSIS3508M1_TOE + index);
break;
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 2778cec..68e017f 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -61,17 +61,25 @@ static void CMD_RcLostLogic(CMD_t *cmd){
/* 机器人底盘运行模式恢复至放松模式 */
cmd->CMD_CtrlType = RELAXED;
}
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
+int8_t CMD_ParseRc(CMD_t *cmd,const CMD_RC_t *rc){
if (cmd == NULL) return -1;
if (rc == NULL) return -1;
- /*c当rc丢控时，恢复机器人至默认状态 */
- if ((rc->dr16.sw_l == CMD_SW_ERR) || (rc->dr16.sw_r == CMD_SW_ERR)) {
- CMD_RcLostLogic(cmd);
- }
- else {
- CMD_RcLogic(rc, cmd);
- }
+ switch (rc->rc_type){
+
+ case RC_DR16:
+ CMD_DR16(cmd,rc);
+ break ;
+
+ case RC_LD:
+ CMD_LD(cmd,rc);
+ break ;
+
+ case Control_loss:
+ CMD_RcLostLogic(cmd);
+ break ;
+ }
+
return 0;
}
@@ -111,8 +119,8 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
-/*遥控器，上下层通用，按键控制，统一到cmd*/
-int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
+/*DR16遥控器数据分配*/
+int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
if(cmd == NULL) return -1;
@@ -162,3 +170,34 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
return 0;
}
+int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
+
+ if(cmd == NULL) return -1;
+
+
+ cmd->Vx = rc->LD.ch_r_x;
+ cmd->Vy = rc->LD.ch_r_y;
+ cmd->Vw = rc->LD.ch_l_x;
+ cmd->poscamear = rc->LD.ch_l_y;
+
+
+ /*自动手动切换*/
+ if(rc->LD.key_A ==CMD_SW_DOWN ) cmd ->CMD_CtrlType =RCcontrol;
+ else if(rc->LD.key_A ==CMD_SW_UP) cmd ->CMD_CtrlType =AUTO;
+
+
+ if(cmd ->CMD_CtrlType ==AUTO){
+
+/*自动下的*/
+ if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =AUTO_NAVI;
+ else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_PICK;
+ else cmd ->CMD_mode =Normal ;
+
+ }
+ else if(cmd ->CMD_CtrlType ==RCcontrol){
+/*手动下的*/
+ if(rc->LD.key_G ==CMD_SW_DOWN ) cmd ->CMD_mode =UP_Adjust;
+ else if(rc->LD.key_G ==CMD_SW_UP) cmd ->CMD_mode =Pitch;
+ else cmd ->CMD_mode =Normal;
+ }
+}
diff --git a/User/device/cmd.h b/User/device/cmd.h
index 0bc6543..c5082ab 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -21,8 +21,11 @@ typedef enum{
Normal, //无模式
+
AUTO_NAVI,
AUTO_PICK,
+
+ UP_Adjust,//上层调整
Dribble , //运球
Pitch, //投篮,底盘锁定
@@ -57,6 +60,8 @@ typedef enum {
CMD_SW_MID = 3,
CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;
+
+
typedef enum{
RC_DR16,
RC_LD ,
@@ -87,14 +92,14 @@ typedef struct {
fp32 ch_r_y ;
fp32 ch_l_x ;
fp32 ch_l_y ;
- int16_t key_A ;
-// int16_t key_B ;//无
- int16_t key_C ;
-// int16_t key_D ;//无
- int16_t key_E ;
- int16_t key_F;
- int16_t key_G ;
- int16_t key_H ;
+ CMD_SwitchPos_t key_A ;
+// int16_t key_B ;//��
+ CMD_SwitchPos_t key_C ;
+// int16_t key_D ;//��
+ CMD_SwitchPos_t key_E ;
+ CMD_SwitchPos_t key_F;
+ CMD_SwitchPos_t key_G ;
+ CMD_SwitchPos_t key_H ;
int16_t knob_left;//左旋钮
int16_t knob_right;//右旋钮
@@ -148,10 +153,11 @@ int8_t CMD_Init(CMD_t *cmd);
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) ;
static void CMD_RcLostLogic(CMD_t *cmd);
-int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc);
+int8_t CMD_ParseRc(CMD_t *cmd,const CMD_RC_t *rc);
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
-int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;
+int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) ;
+int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc);
#endif
diff --git a/User/device/rc.c b/User/device/rc.c
index 7000eb8..a8cffe5 100644
--- a/User/device/rc.c
+++ b/User/device/rc.c
@@ -17,8 +17,8 @@
#ifdef DR16
#define FRAME_LEN 36
-
-#elif defined(LD_t)
+#endif
+#ifdef LD_t
#define FRAME_LEN 25
@@ -30,7 +30,7 @@
#define RC_CH_VALUE_MAX ((uint16_t)1684)
static osThreadId_t thread_alert;
-static uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
+ uint8_t cbuf[FRAME_LEN]; //此处设置为两帧字节的长度 若为一帧会出现乱码的情况
/*通用，初始化，串口回调注册，dma数据接收*/
int8_t RC_SBUS_Init(void )
@@ -39,6 +39,8 @@ int8_t RC_SBUS_Init(void )
BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB,
RC_SBUS_RxCpltCallback);
+ memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包
+
return DEVICE_OK;
}
@@ -98,40 +100,48 @@ int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD)
raw->map_ch[0]=map_fp32(raw->ch[0],-719,680,-1,1);
- raw->map_ch[1]=map_fp32(raw->ch[1],-567,832,-1,1);
+ raw->map_ch[1]=map_fp32(raw->ch[1],-653,746,-1,1);
raw->map_ch[2]=map_fp32(raw->ch[2],95,1482,0,1);
raw->map_ch[3]=map_fp32(raw->ch[3],-317,375,-1,1);
/*非线性映射*/
- raw->map_ch[0]=expo_map(raw->map_ch[0], 0.7f);
+ raw->map_ch[0]=expo_map(raw->map_ch[0],0.7f);
raw->map_ch[1]=expo_map(raw->map_ch[1],0.7f);
raw->map_ch[2]=expo_map(raw->map_ch[2],0.7f);
raw->map_ch[3]=expo_map(raw->map_ch[3],0.7f);
- //死区(-30,30)
- if(raw->map_ch[0]>-0.05f&&raw->map_ch[0]<0.05f) raw->map_ch[0]=0;
- if(raw->map_ch[1]>-0.05f&&raw->map_ch[1]<0.05f) raw->map_ch[1]=0;
- if(raw->map_ch[2]>-0.05f&&raw->map_ch[2]<0.05f) raw->map_ch[2]=0;
- if(raw->map_ch[3]>-0.05f&&raw->map_ch[3]<0.05f) raw->map_ch[3]=0;
-
+ //死区(-30,30)
+ if(raw->map_ch[0]>-0.002f&&raw->map_ch[0]<0.002f) raw->map_ch[0]=0;
+ if(raw->map_ch[1]>-0.002f&&raw->map_ch[1]<0.002f) raw->map_ch[1]=0;
+ if(raw->map_ch[2]>-0.002f&&raw->map_ch[2]<0.002f) raw->map_ch[2]=0;
+ if(raw->map_ch[3]>-0.002f&&raw->map_ch[3]<0.002f) raw->map_ch[3]=0;
+
/*dr16采用的是复制内存，这里因为内存顺序不同没用*/
- LD->ch_l_x= raw->map_ch[3];
- LD->ch_l_y =raw->map_ch[2];
- LD->ch_r_x= raw->map_ch[0];
- LD->ch_r_y =raw->map_ch[1];
- LD->key_A =raw->sw[0];
-// LD->key_B =rc_ctrl->sw[0]
- LD->key_C =raw->sw[2];
-// LD->key_D =rc_ctrl->sw[0]
- LD->key_E =raw->sw[5];
- LD->key_F =raw->sw[3];
- LD->key_G =raw->sw[7];
- LD->key_H =raw->sw[4];
- LD->knob_left=raw->sw[1];
- LD->knob_right =raw->sw[6];
-
+ LD->ch_l_x= raw->map_ch[3];
+ LD->ch_l_y =raw->map_ch[2];
+ LD->ch_r_x= raw->map_ch[0];
+ LD->ch_r_y =raw->map_ch[1];
+
+// LD->key_A =raw->sw[0];
+// // LD->key_B =rc_ctrl->sw[0]
+// LD->key_C =raw->sw[2];
+// // LD->key_D =rc_ctrl->sw[0]
+// LD->key_E =raw->sw[5];
+// LD->key_F =raw->sw[3];
+// LD->key_G =raw->sw[7];
+// LD->key_H =raw->sw[4];
+// LD->knob_left=raw->sw[1];
+// LD->knob_right =raw->sw[6];
+ LD->key_A = MapSwitchState(raw->sw[0]);
+ LD->key_C = MapSwitchState(raw->sw[2]);
+ LD->key_E = MapSwitchState(raw->sw[5]);
+ LD->key_F = MapSwitchState(raw->sw[3]);
+ LD->key_G = MapSwitchState(raw->sw[7]);
+ LD->key_H = MapSwitchState(raw->sw[4]);
+ LD->knob_left = MapSwitchState(raw->sw[1]);
+ LD->knob_right = MapSwitchState(raw->sw[6]);
return 1;
@@ -195,8 +205,8 @@ int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) {
rc->dr16.ch_l_x = 2 * ((float)dr16->data.ch_l_x - RC_CH_VALUE_MID) / full_range;
rc->dr16.ch_l_y = 2 * ((float)dr16->data.ch_l_y - RC_CH_VALUE_MID) / full_range;
- rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l;
- rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r;
+ rc->dr16.sw_l = (CMD_SwitchPos_DR16_t)dr16->data.sw_l;
+ rc->dr16.sw_r = (CMD_SwitchPos_DR16_t)dr16->data.sw_r;
rc->dr16.key = dr16->data.key;
@@ -211,10 +221,10 @@ int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) {
memcpy(&rc->LD, LD, sizeof(LD_Data_t));
/*离线处理，和dr16位置不同*/
- if(LD_raw->sw[7] != 393)
+ if(LD_raw->sw[7] == 300||LD_raw->sw[3]!=1694)
{
LD_HandleOffline(LD,rc);
- memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信
+// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信
}
#endif
return DEVICE_OK;
@@ -230,6 +240,7 @@ int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) {
(void)dr16;
memset(&rc->dr16 , 0, sizeof(DR16_t));
+
return 0;
}
int8_t LD_HandleOffline(const LD_Data_t *LD, CMD_RC_t *rc) {
@@ -240,4 +251,13 @@ int8_t LD_HandleOffline(const LD_Data_t *LD, CMD_RC_t *rc) {
memset(&rc->LD , 0, sizeof(LD_Data_t));
return 0;
+}
+
+
+
+/*乐迪用的按键封装 */
+CMD_SwitchPos_t MapSwitchState(int16_t value) {
+ return (value > 300 && value < 500) ? CMD_SW_DOWN :
+ (value >= 500 && value < 1500) ? CMD_SW_MID :
+ (value >= 1500 && value < 1700) ? CMD_SW_UP : CMD_SW_ERR;
}
\ No newline at end of file
diff --git a/User/device/rc.h b/User/device/rc.h
index 43665fe..e21aaa5 100644
--- a/User/device/rc.h
+++ b/User/device/rc.h
@@ -32,7 +32,7 @@ typedef struct {
DR16_Data_t data;
} DR16_t;
-/*ԭʼ*/
+/*ԭʼ����*/
typedef __packed struct
{
fp32 map_ch[4];
@@ -48,17 +48,17 @@ typedef __packed struct
fp32 ch_r_y ;
fp32 ch_l_x ;
fp32 ch_l_y ;
- int16_t key_A ;
-// int16_t key_B ;//
- int16_t key_C ;
-// int16_t key_D ;//
- int16_t key_E ;
- int16_t key_F;
- int16_t key_G ;
- int16_t key_H ;
+ CMD_SwitchPos_t key_A ;
+// int16_t key_B ;//��
+ CMD_SwitchPos_t key_C ;
+// int16_t key_D ;//��
+ CMD_SwitchPos_t key_E ;
+ CMD_SwitchPos_t key_F;
+ CMD_SwitchPos_t key_G ;
+ CMD_SwitchPos_t key_H ;
- int16_t knob_left;//ť
- int16_t knob_right;//ť
+ int16_t knob_left;//����ť
+ int16_t knob_right;//����ť
} LD_Data_t;
@@ -79,6 +79,7 @@ int8_t DR16_ParseRaw(DR16_t *dr16);
int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) ;
int8_t DR16_HandleOffline(const DR16_t *dr16, CMD_RC_t *rc) ;
int8_t LD_HandleOffline(const LD_Data_t *LD, CMD_RC_t *rc) ;
+CMD_SwitchPos_t MapSwitchState(int16_t value) ;
#endif
diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c
index 651baa9..a1f64de 100644
--- a/User/task/cmd_task.c
+++ b/User/task/cmd_task.c
@@ -39,7 +39,6 @@ void Task_cmd(void *argument){
/*将各任务接收到的原始数据解析为通用的控制命令*/
-
/*注意，不能将nuc和码盘导航一块使用*/
if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc
@@ -54,6 +53,7 @@ void Task_cmd(void *argument){
/*将需要与其他任务共享的数据放到消息队列里 此处主要分享给底盘 后续会添加和上层机构的通信 */
osMessageQueueReset(task_runtime.msgq.cmd.CHASSIS_cmd_ctrl_t);
osMessageQueuePut(task_runtime.msgq.cmd.CHASSIS_cmd_ctrl_t,&cmd,0,0);
+
osMessageQueueReset(task_runtime.msgq.cmd.UP_cmd_ctrl_t);
osMessageQueuePut(task_runtime.msgq.cmd.UP_cmd_ctrl_t,&cmd,0,0);