From b2efd7c82295efeb8fec288ef0d2a1cc130534bd Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Fri, 16 May 2025 19:34:06 +0800 Subject: [PATCH 01/13] =?UTF-8?q?=E6=95=B4=E4=BD=93=E9=85=8D=E5=90=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2.uvoptx | 6 +- MDK-ARM/R2/R2.axf | Bin 2843800 -> 2846852 bytes User/Module/config.c | 5 +- User/Module/up.c | 146 ++++++++++++++++++++++++++++++++++++------- User/Module/up.h | 38 +++++++---- 5 files changed, 155 insertions(+), 40 deletions(-) diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 55731e3..4e7b59f 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 6 + 3 @@ -114,7 +114,7 @@ - STLink\ST-LINKIII-KEIL_SWO.dll + BIN\CMSIS_AGDI.dll @@ -140,7 +140,7 @@ 0 DLGUARM - (105=-1,-1,-1,-1,0) + 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 5c9f8b803476996b3c3fb2a01645936687acb426..e2feb1df69d1d66749149a8c83148ef8c4115312 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zeasB!((~N9Jy$)}jLM|z_AILt%i_R_Yn$cG*`voi zZzk?Z=iB#F_V43jcZ9~awmXlHHHofj&4(Aeczi6Ss=C$ujV$}^vhlH|q2JQ&E#qS? zqT6#-j?;t^>pqfTqz$mEO^7u~yp>g1Bfr|2>i-=NCK-zl*!N9{HBDGy&zTUrIr7fU zMzXz*K=s8n(~Mew=hb=|d#rtYLhQ!qs?BM}WcxCyp}IZoMibdfdQa16W_O=R=$-<5 J{KQ!O{{?ZQt~LMw diff --git a/User/Module/config.c b/User/Module/config.c index 82ef92b..9c56d78 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -97,7 +97,7 @@ static const ConfigParam_t param ={ /*运球*/ .DribbleConfig_Config = { .dribble_flag=0, - .m3508_init_angle = 50, + .m3508_init_angle = -5, .m3508_translate_angle = -930, .m3508_dribble_Reverse_speed=-3500, . m3508_dribble_speed= 4000, // 转动速度 @@ -112,7 +112,8 @@ static const ConfigParam_t param ={ .PitchConfig_Config = { .m2006_init_angle =-170, .m2006_trigger_angle =0, - .go1_init_position = -50, + .go1_init_position = -50, + .go1_Receive_ball = -5, //偏下 .go1_release_threshold =-210, .m2006_Screw_init=0, .Pitch_angle =56, diff --git a/User/Module/up.c b/User/Module/up.c index ceaeddf..5bd5c88 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -93,7 +93,10 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) { } u->cmd =c; - + /*光电状态更新*/ + u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); + u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); + return 0; } @@ -270,7 +273,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) is_pitch=0; } //让初始go位置只读一次,后面按调整模式更改的来,后面稳定了之后,可以跟随调整模式下一块删 u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 /*运球*/ @@ -279,18 +281,23 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) for(int i=0;i<3;i++){ u->motor_target.Dribble_M3508_speed[i]=0; } - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle; u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 break; case Pitch : +// if (u->PitchContext .PitchState ==PITCH_PREPARE) +// { +// u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 +// } + +// Pitch_Process(u,out); if (u->PitchContext .PitchState ==PITCH_PREPARE) { - u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 - } - - Pitch_Process(u,out,c); + u->CoContext .CoState =CoTRANSLATE_OUT; + } + Co_Process(u,out); break ; case UP_Adjust: //测试用 @@ -308,10 +315,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE; } //光电状态更新 - u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); - a=HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - b=HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); Dribble_Process(u,out); }break ; @@ -341,12 +344,14 @@ return 0; -int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c) +int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) { switch(u->PitchContext .PitchState){ case PITCH_START: +// u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面,这里的检测条件可以更改 @@ -361,11 +366,21 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c) if( u->motorfeedback .DJmotor_feedback [4].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=u->PitchContext.PitchConfig.go1_init_position; + u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; + if(is_reached (u->motorfeedback .go_data ->Pos ,u->motor_target .go_shoot ,1.0f)) + { + u->PitchContext .PitchState=PITCH_LAUNCHING; + } } - - break ; + + + break ; + + case PITCH_LAUNCHING: //等待发射 + break ; + case PITCH_COMPLETE: //发射完成 + break ; } @@ -389,7 +404,9 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) switch (u->DribbleContext.DribbleState) { case DRIBBLE_TRANSLATE: - if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f)) + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 { u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,转移状态 } @@ -412,13 +429,12 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) common_speed_flag =1; } if(common_speed_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测,反转 + if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测,反转 u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; - } } @@ -426,12 +442,14 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) break; case DRIBBLE_PROCESS_UP: - if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&& - (u->motorfeedback .DJmotor_feedback [1].rpm>0)&& - (u->motorfeedback .DJmotor_feedback [2].rpm>0) + common_speed_flag =0; + + if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&& + (u->motorfeedback .DJmotor_feedback [1].rpm>2000)&& + (u->motorfeedback .DJmotor_feedback [2].rpm>2000) ){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){ + if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ u->DribbleContext .DribbleState=DRIBBLE_DONE; RELAY1_TOGGLE(0); //关闭气缸 } @@ -454,5 +472,89 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) } return 0; } +// CoPREPARE, // 准备阶段 +// CoTRANSLATE_OUT,//上方平移,去运球 +// CoDRIBBLE, //运球阶段 +// CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 +// CoPITCH, //发射 +// CoDONE, + +int8_t Co_Process(UP_t *u, CAN_Output_t *out) +{ + switch(u->CoContext .CoState ) + { + case CoPREPARE: + + break ; + case CoTRANSLATE_OUT: + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 + { + u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,运球转移状态 + u->PitchContext .PitchState = PITCH_START; + + u->CoContext .CoState =CoDRIBBLE; + } + break; + + case CoDRIBBLE: + Dribble_Process(u,out); //状态停在DRIBBLE_DONE + Pitch_Process(u,out); //状态停在PITCH_PULL_TRIGGER + //状态停在对应位置时,平移去给发射送球 + if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING) + { + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + } + if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f)) + { + u->motor_target.Dribble_M3508_speed[0]=1000; + u->motor_target.Dribble_M3508_speed[1]=-1000; + u->motor_target.Dribble_M3508_speed[2]=-1000; + + u->CoContext .CoState =CoTRANSLATE_IN; + } + + break ; + case CoTRANSLATE_IN: + + if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, + u->motorfeedback .DJmotor_feedback [1].rpm, + u->motorfeedback .DJmotor_feedback [2].rpm, + u->motor_target.Dribble_M3508_speed [0], + u->motor_target.Dribble_M3508_speed [1], + u->motor_target.Dribble_M3508_speed[2], + 50.0f,100) + ) { + RELAY1_TOGGLE(1); //速度达到后打开气缸,送给发射 + } + if(u->DribbleContext .DribbleConfig.light_ball_flag == 0) + { + u->motor_target.Dribble_M3508_speed[0]=0; + u->motor_target.Dribble_M3508_speed[1]=0; + u->motor_target.Dribble_M3508_speed[2]=0; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + } + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主,卡到最右端 + { + u->CoContext .CoState =CoPITCH; + } + break ; + + case CoPITCH: + + u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + + + break ; + + } + + + +} + diff --git a/User/Module/up.h b/User/Module/up.h index f06865c..d915ebf 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -26,16 +26,24 @@ 运行函数,switch(状态) 运行相应函数 - - - - - - - - - */ +/*配合过程状态,co是合作的意思*/ +typedef enum { + CoPREPARE, // 准备阶段 + CoTRANSLATE_OUT,//上方平移,去运球 + CoDRIBBLE, //运球和蓄力阶段,再平移回去 + CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 + CoPITCH, //发射 + CoDONE, + + +}CoState_t; +/*总配合上下文*/ +typedef struct { + CoState_t CoState; + + uint8_t is_initialized ; +} CoContext_t; @@ -46,7 +54,9 @@ typedef enum { PITCH_START, //启动,拉扳机 PITCH_PULL_TRIGGER, PITCH_LAUNCHING, // 发射中 + PITCH_COMPLETE // 完成 + } PitchState_t; /* 投球参数配置 */ @@ -55,8 +65,10 @@ typedef struct { fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 fp32 go1_init_position; // GO电机触发位置,0,初始位置 fp32 go1_release_threshold; // go上升去合并扳机,扳机位置 + fp32 go1_Receive_ball; //用在配合过程,用来接平移后的球 fp32 m2006_Screw_init; fp32 Pitch_angle; + } PitchConfig_t; /* 投球控制上下文 */ @@ -108,8 +120,6 @@ typedef struct { uint8_t is_initialized; - - } DribbleContext_t; @@ -164,7 +174,8 @@ typedef struct{ uint8_t up_task_run; const UP_Param_t *param; - /*运球过程*/ + CoContext_t CoContext; + /*运球过程*/ DribbleContext_t DribbleContext; /*投篮过程*/ PitchContext_t PitchContext; @@ -262,7 +273,8 @@ int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed); int8_t Dribble_Process(UP_t *u, CAN_Output_t *out); -int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c); +int8_t Pitch_Process(UP_t *u, CAN_Output_t *out); +int8_t Co_Process(UP_t *u, CAN_Output_t *out); #endif From 8ffef3851866ad1c152e32c4918ba9734bc82add Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 24 May 2025 14:10:05 +0800 Subject: [PATCH 02/13] =?UTF-8?q?go=E5=92=8Cnuc=E4=B8=B2=E5=8F=A3=E6=9B=B4?= =?UTF-8?q?=E6=8D=A2=EF=BC=8C=E6=A0=B9=E6=8D=AE=E4=BD=8D=E7=BD=AE=E8=87=AA?= =?UTF-8?q?=E5=8A=A8=E5=8F=91go=E7=9A=84=E4=BD=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/usart.c | 4 +- MDK-ARM/R2.uvoptx | 75 +++++++++++++++++++++++-- MDK-ARM/R2/R2.axf | Bin 2846852 -> 2845372 bytes User/Module/Chassis.c | 107 ++++++++++++++++++++++++++---------- User/Module/Chassis.h | 1 + User/Module/config.c | 2 +- User/Module/up.c | 62 +++++++++++++++------ User/bsp/bsp_usart.c | 8 +-- User/bsp/bsp_usart.h | 1 + User/bsp/pwm.c | 6 +- User/device/cmd.c | 9 ++- User/device/cmd.h | 12 +++- User/device/nuc.c | 125 +++++++++++++++++++++++++----------------- User/device/nuc.h | 3 +- User/device/rc.c | 23 ++++++-- User/device/vofa.c | 11 ++-- User/task/nuc_task.c | 3 +- User/task/up_task.c | 5 +- 18 files changed, 330 insertions(+), 127 deletions(-) diff --git a/Core/Src/usart.c b/Core/Src/usart.c index f133fad..329c947 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; - huart1.Init.BaudRate = 115200; + huart1.Init.BaudRate = 4000000; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; @@ -104,7 +104,7 @@ void MX_USART6_UART_Init(void) /* USER CODE END USART6_Init 1 */ huart6.Instance = USART6; - huart6.Init.BaudRate = 4000000; + huart6.Init.BaudRate = 115200; huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.Parity = UART_PARITY_NONE; diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 4e7b59f..58ce169 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -223,27 +223,92 @@ 13 1 - a + b 14 1 - b + count,0x0A 15 1 - count,0x0A + count 16 1 - count + raw_rx1,0x0A 17 1 - raw_rx1,0x0A + gyro_kp,0x0A + + + 18 + 1 + nucbuf,0x0A + + + 19 + 1 + vofa_send,0x0A + + + 20 + 1 + SendBuffer,0x10 + + + 21 + 1 + NUC_StartSending,0x0A + + + 22 + 1 + PIAN + + + 23 + 1 + pid + + + 24 + 1 + bmi088 + + + 25 + 1 + ist8310 + + + 26 + 1 + imu_eulr,0x0A + + + 27 + 1 + imu_temp,0x0A + + + 28 + 1 + htim10,0x0A + + + 29 + 1 + pulse + + + 30 + 1 + imu_temp diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index e2feb1df69d1d66749149a8c83148ef8c4115312..8272b1a95aac2cc54f761bd6465be606b29a0fb4 100644 GIT binary patch delta 141936 zcmeFZ33OCN*DhRDJ*3ka=*)A|odLoeMw#gZXgZ8x6d8knhB*QHdruRrM=|l$NVQQl3MNEW}Tw)+?Ncn5T)ImjbW4009zsiWN z5bw!mqFZ}z$JoT^+MYy5@b6tlbScm7IG>u@yEoAd1%K!n62xPA>^N^sybF>G@bJ>Y 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c->hopemotorout.OmniSpeedOut[1] = -Vx-Vy+Vw;//右后 +// c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后 +// c->hopemotorout.OmniSpeedOut[3] = Vx+Vy+Vw;//左前 // c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右前 // c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右后 // c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左后 @@ -96,6 +100,14 @@ void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆 c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw ;//右后 c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw ;//左后 c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw ;//左前 + +// if(!Vw){ +// PIAN = jiuzheng(c->pos088 .imu_eulr .yaw ); +// } +// c->hopemotorout.OmniSpeedOut[0] += PIAN ;//右前 +// c->hopemotorout.OmniSpeedOut[1] += PIAN ;//右后 +// c->hopemotorout.OmniSpeedOut[2] += PIAN ;//左后 +// c->hopemotorout.OmniSpeedOut[3] += PIAN ;//左前 } @@ -173,32 +185,32 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out) break; - case AUTO_PICK: //自动视觉 + case AUTO_NAVI_Pitch: //自动视觉 - c->move_vec.Vx =ctrl->Vx*6000 ; - c->move_vec.Vy =ctrl->Vy *6000; - c->move_vec .Vw = -ctrl->cmd_pick .posx; + c->move_vec.Vw =0; + c->move_vec.Vy =0; + c->move_vec.Vx =0 ; - if(abs_value(ctrl ->cmd_pick .posx )>20) - { - c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0); - - } - else if(abs_value(ctrl ->cmd_pick .posx )<0.1) - { - c->move_vec.Vw =0; - } - else - c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0); +// if(abs_value(ctrl ->cmd_pick .posx )>20) +// { +// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0); +// +// } +// else if(abs_value(ctrl ->cmd_pick .posx )<0.1) +// { +// c->move_vec.Vw =0; +// } +// else +// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0); - c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw); +// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw); - - c->vofa_send[0]=c->move_vec.Vw; - c->vofa_send[1]=-ctrl->cmd_pick .posx; - +// +// c->vofa_send[0]=c->move_vec.Vw; +// c->vofa_send[1]=-ctrl->cmd_pick .posx; +// @@ -232,17 +244,54 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out) } -// c->vofa_send[0]=c->pos088.bmi088.gyro.x; -// c->vofa_send[1]=c->pos088.bmi088.gyro.y; -// c->vofa_send[2]=c->pos088.bmi088.gyro.z; -// c->vofa_send[3]=c->pos088.bmi088.accl.x; -// c->vofa_send[4]=c->pos088.bmi088.accl.y; -// c->vofa_send[5]=c->pos088.bmi088.accl.z; + +// c->vofa_send[0]=c->pos088.bmi088.gyro.z; + +// c->vofa_send[1]=c->motorfeedback .rotor_rpm3508 [0]; +// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [1]; +// c->vofa_send[3]=c->motorfeedback .rotor_rpm3508 [2]; +// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [3]; +// +// c->vofa_send[0]=c->hopemotorout .OmniSpeedOut [0]; +// c->vofa_send[1]=c->hopemotorout .OmniSpeedOut [0]; +//// c->vofa_send[2]=c->hopemotorout .OmniSpeedOut [2]; +// c->vofa_send[3]=c->hopemotorout .OmniSpeedOut [3]; + +//// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [0]; +// c->vofa_send[0]=c->motorfeedback .rotor_rpm3508 [0]; +//// c->vofa_send[6]=c->motorfeedback .rotor_rpm3508 [2]; +// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [3]; +// +// c->vofa_send[5]=c->pos088 .imu_eulr .yaw ; return CHASSIS_OK; } + pid_type_def pid; + pid_param_t pid_param={ + .p = 0.50f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 50.0f, + .out_limit = 100.0f + }; +fp32 jiuzheng(fp32 yaw) +{ + static fp32 pian_yaw=0; + static fp32 shang_yaw=0; + static int is=0; - + + if(is==0) + { + PID_init (&pid,PID_POSITION ,&pid_param); + is=1; + } + + pian_yaw+= (yaw - shang_yaw); + shang_yaw=yaw ; + + return PID_calc(&pid,pian_yaw,0); +} diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index a6c3e11..919bb3e 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -190,6 +190,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can); int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out); +fp32 jiuzheng(fp32 yaw); diff --git a/User/Module/config.c b/User/Module/config.c index 9c56d78..65a65cd 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -110,7 +110,7 @@ static const ConfigParam_t param ={ }, /*投球*/ .PitchConfig_Config = { - .m2006_init_angle =-170, + .m2006_init_angle =-90, .m2006_trigger_angle =0, .go1_init_position = -50, .go1_Receive_ball = -5, //偏下 diff --git a/User/Module/up.c b/User/Module/up.c index 5bd5c88..df7dcd1 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -49,6 +49,8 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) } u->go_cmd =u->param ->go_cmd ; + LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f); + // 初始化上层状态机 if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机,运球 @@ -97,6 +99,7 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) { u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); + return 0; } @@ -257,7 +260,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) static int is_pitch=1; - + switch (c->CMD_CtrlType ) { case RCcontrol: //在手动模式下 @@ -283,29 +286,31 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) } u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle; u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 + + break; case Pitch : -// if (u->PitchContext .PitchState ==PITCH_PREPARE) -// { -// u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 -// } - -// Pitch_Process(u,out); if (u->PitchContext .PitchState ==PITCH_PREPARE) { - u->CoContext .CoState =CoTRANSLATE_OUT; - } - Co_Process(u,out); + u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 + } + + Pitch_Process(u,out); +// if (u->PitchContext .PitchState ==PITCH_PREPARE) +// { +// u->CoContext .CoState =CoTRANSLATE_OUT; +// } +// Co_Process(u,out); break ; case UP_Adjust: //测试用 - u->PitchContext.PitchConfig.go1_init_position += c->Vx ; + u->PitchContext.PitchConfig.go1_Receive_ball += c->Vx ; u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; break ; case Dribble: @@ -323,7 +328,32 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) default: break; } + case AUTO: + switch(c-> CMD_mode) + { + case AUTO_NAVI_Pitch: + u->PitchContext .PitchConfig .go1_Receive_ball=LowPassFilter2p_Apply(&u->filled[0],c->pos); + if (u->PitchContext .PitchState ==PITCH_PREPARE) + { + u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 + } + /*根据距离实时计算所需pos*/ + +// u->PitchContext .PitchConfig .go1_release_threshold=c->pos; + Pitch_Process(u,out); + break ; + + case AUTO_NAVI: + u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; + + u->PitchContext .PitchState = PITCH_PREPARE; + + + + break ; + + } return 0; @@ -372,14 +402,14 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) u->PitchContext .PitchState=PITCH_LAUNCHING; } } - - - break ; - case PITCH_LAUNCHING: //等待发射 + case PITCH_LAUNCHING: //等待发射 + u->PitchContext .PitchState=PITCH_COMPLETE; break ; case PITCH_COMPLETE: //发射完成 + + break ; diff --git a/User/bsp/bsp_usart.c b/User/bsp/bsp_usart.c index 4843fac..e40ddb8 100644 --- a/User/bsp/bsp_usart.c +++ b/User/bsp/bsp_usart.c @@ -9,9 +9,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) { if (huart->Instance == USART3) return BSP_UART_REMOTE; else if (huart->Instance == USART1) - return BSP_UART_NUC; - else if (huart->Instance == USART6) return BSP_UART_RS485; + else if (huart->Instance == USART6) + return BSP_UART_NUC; /* else if (huart->Instance == USARTX) return BSP_UART_XXX; @@ -95,9 +95,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) { case BSP_UART_REMOTE: return &huart3; case BSP_UART_RS485: - return &huart6; - case BSP_UART_NUC: return &huart1; + case BSP_UART_NUC: + return &huart6; /* case BSP_UART_XXX: return &huartX; diff --git a/User/bsp/bsp_usart.h b/User/bsp/bsp_usart.h index 4974127..bff764a 100644 --- a/User/bsp/bsp_usart.h +++ b/User/bsp/bsp_usart.h @@ -13,6 +13,7 @@ typedef enum { BSP_UART_REMOTE, BSP_UART_RS485, BSP_UART_NUC, + BSP_UART_VOFA, /* BSP_UART_XXX, */ BSP_UART_NUM, BSP_UART_ERR, diff --git a/User/bsp/pwm.c b/User/bsp/pwm.c index d2bd484..eba9c86 100644 --- a/User/bsp/pwm.c +++ b/User/bsp/pwm.c @@ -19,11 +19,11 @@ int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) { return BSP_OK; } + uint16_t pulse; int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) { if (duty_cycle < 0.0f) duty_cycle = 0.f; - uint16_t pulse; /* 通过PWM通道对应定时器重载值和给定占空比,计算PWM周期值 */ switch (ch) { case BSP_PWM_IMU_HEAT: @@ -38,7 +38,9 @@ int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) { break; } } else { -// BSP_PWM_Stop(ch); + pulse =0; + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse); + //BSP_PWM_Stop(ch); } return BSP_OK; } diff --git a/User/device/cmd.c b/User/device/cmd.c index 899aad9..eec5297 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -102,6 +102,8 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){ cmd->cmd_MID360.posx = n->navi.vx; cmd->cmd_MID360.posy = n->navi.vy; cmd->cmd_MID360.posw = n->navi.wz; + + cmd->pos =n->navi .pos ; break; case PICK : @@ -155,7 +157,7 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) { if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中,右中,无模式 - if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_PICK; //左中,右下,视觉 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_NAVI_Pitch; //左中,右下,视觉 } else if(rc->dr16.sw_l==CMD_SW_DOWN) @@ -189,8 +191,9 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){ 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; + if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal; + else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Pitch; + else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI; else cmd ->CMD_mode =Normal ; } diff --git a/User/device/cmd.h b/User/device/cmd.h index c5082ab..52d5703 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -9,6 +9,7 @@ #define MID (0x09) #define PICK (0x06) +#define NUC (0x08) typedef enum{ RCcontrol,//遥控器控制,左按键上,控制上层 @@ -23,7 +24,7 @@ typedef enum{ Normal, //无模式 AUTO_NAVI, - AUTO_PICK, + AUTO_NAVI_Pitch, UP_Adjust,//上层调整 @@ -41,6 +42,11 @@ typedef struct { fp32 vx; fp32 vy; fp32 wz; + + fp32 pos; + fp32 angle; + char flag; + }navi; struct { @@ -52,6 +58,8 @@ typedef struct { { fp32 angle; }sick_cali; + + } CMD_NUC_t; /* 拨杆位置 */ typedef enum { @@ -122,6 +130,8 @@ typedef struct { fp32 key_ctrl_l; fp32 key_ctrl_r; + fp32 pos;//雷达反馈go位置 + fp32 Vx; fp32 Vy; fp32 Vw; diff --git a/User/device/nuc.c b/User/device/nuc.c index 05bc64a..57fce4c 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -8,6 +8,7 @@ static osThreadId_t thread_alert; uint8_t nucbuf[31]; + static void NUC_IdleCallback(void) { osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); detect_hook(NUC_TOE); @@ -26,6 +27,35 @@ int8_t NUC_StartReceiving() { sizeof(nucbuf)) == HAL_OK) return DEVICE_OK; return DEVICE_ERR; +} + char SendBuffer[19]; + +int8_t NUC_StartSending(fp32 *data) { + + union + { + float x[4]; + char data[16]; + }instance; + + + for (int i = 0; i < 4; i++) { + instance.x[i] = data[i]; + } + + SendBuffer[0] = 0xFC; //发送ID + SendBuffer[1] = 0x01; //控制帧 + for(int i = 2; i < 18; i++) + { + SendBuffer[i] = instance.data[i-2]; + } + SendBuffer[18] = 0xFD; //结束符 + + if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC), + (uint8_t *)SendBuffer, + sizeof(SendBuffer)) == HAL_OK) + return DEVICE_OK; + return DEVICE_ERR; } int8_t NUC_Restart(void) { __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC)); @@ -42,8 +72,8 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ if(n ==NULL) return DEVICE_ERR_NULL; union { - float x[3]; - char data[12]; + float x[5]; + char data[20]; }instance; if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘 else{ @@ -51,7 +81,34 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ n->ctrl_status =nucbuf[2]; switch (n->status_fromnuc) { - case MID://控制帧0x09 +// case MID://控制帧0x09 +// /* 协议格式 +// 0xFF HEAD +// 0x09 控制帧 +// 0x01 相机帧 +// vx fp32 +// vy fp32 +// wz fp32 +// 0xFE TAIL +// */ +//// if(nucbuf[15]!=TAIL)goto error; +// instance.data[3] = nucbuf[6]; +// instance.data[2] = nucbuf[5]; +// instance.data[1] = nucbuf[4]; +// instance.data[0] = nucbuf[3]; +// n->navi.vx = instance.x[0]; // +// instance.data[7] = nucbuf[10]; +// instance.data[6] = nucbuf[9]; +// instance.data[5] = nucbuf[8]; +// instance.data[4] = nucbuf[7]; +// n->navi.vy = instance.x[1];// +// instance.data[11] = nucbuf[14]; +// instance.data[10] = nucbuf[13]; +// instance.data[9] = nucbuf[12]; +// instance.data[8] = nucbuf[11]; +// n->navi.wz = instance.x[2];// +// break; + case MID ://控制帧0x08 /* 协议格式 0xFF HEAD 0x09 控制帧 @@ -61,7 +118,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ wz fp32 0xFE TAIL */ - if(nucbuf[15]!=TAIL)goto error; + if(nucbuf[24]!=TAIL)goto error; instance.data[3] = nucbuf[6]; instance.data[2] = nucbuf[5]; instance.data[1] = nucbuf[4]; @@ -77,53 +134,21 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ instance.data[9] = nucbuf[12]; instance.data[8] = nucbuf[11]; n->navi.wz = instance.x[2];// + instance.data[15] = nucbuf[18]; + instance.data[14] = nucbuf[17]; + instance.data[13] = nucbuf[16]; + instance.data[12] = nucbuf[15]; + n->navi.pos = instance.x[3];// + instance.data[19] = nucbuf[22]; + instance.data[18] = nucbuf[21]; + instance.data[17] = nucbuf[20]; + instance.data[16] = nucbuf[19]; + n->navi.angle = instance.x[4];// + + n->navi.flag = nucbuf[23];// break; - case PICK: - /* 协议格式 - 0xFF HEAD - 0x0X 控制帧 - 0x01 相机帧 - cmd 8位 - dis 相机深度值 - posx 相机yaw轴值 - posy 相机pitch轴值 - 0xFE TAIL - */ -// if(nucbuf[15]!=TAIL)goto error; - instance.data[3] = nucbuf[6]; - instance.data[2] = nucbuf[5]; - instance.data[1] = nucbuf[4]; - instance.data[0] = nucbuf[3]; - n->pick.posx = instance.x[0]; //距离球中心的角度值 - instance.data[7] = nucbuf[10]; - instance.data[6] = nucbuf[9]; - instance.data[5] = nucbuf[8]; - instance.data[4] = nucbuf[7]; - n->pick.posy = instance.x[1];// 相机yaw轴 - instance.data[11] = nucbuf[14]; - instance.data[10] = nucbuf[13]; - instance.data[9] = nucbuf[12]; - instance.data[8] = nucbuf[11]; - n->pick.posw= instance.x[2];// 暂未用到 - break; -// case SICK_CAIL: -// if(nucbuf[15]!=TAIL)goto error; -// instance.data[3] = nucbuf[14]; -// instance.data[2] = nucbuf[13]; -// instance.data[1] = nucbuf[12]; -// instance.data[0] = nucbuf[11]; -// n->sick_cali.angle = instance.x[0]; // -// instance.data[7] = nucbuf[10]; -// instance.data[6] = nucbuf[9]; -// instance.data[5] = nucbuf[8]; -// instance.data[4] = nucbuf[7]; -// n->sick_cali.isleft = instance.x[1];// -// instance.data[11] = nucbuf[14]; -// instance.data[10] = nucbuf[13]; -// instance.data[9] = nucbuf[12]; -// instance.data[8] = nucbuf[11]; -// n->pick.posw= instance.x[2];// 暂未用到 -// break; + + } return DEVICE_OK; } diff --git a/User/device/nuc.h b/User/device/nuc.h index 9b9cc4b..3f7c0d1 100644 --- a/User/device/nuc.h +++ b/User/device/nuc.h @@ -23,12 +23,13 @@ typedef struct { NUC_UpPackageMCU_t to_nuc; //发送的数据协议 uint8_t status;//控制状态 - uint8_t pit_status;//pit相机朝向 + } NUC_t; int8_t NUC_Init(NUC_t *nuc); int8_t NUC_StartReceiving(void); +int8_t NUC_StartSending(fp32 *data) ; bool_t NUC_WaitDmaCplt(void); int8_t NUC_RawParse(CMD_NUC_t *n); int8_t NUC_HandleOffline(CMD_NUC_t *cmd); diff --git a/User/device/rc.c b/User/device/rc.c index a8cffe5..bebd452 100644 --- a/User/device/rc.c +++ b/User/device/rc.c @@ -99,10 +99,25 @@ int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD) raw->ch[3] = 0.5*(raw->ch[3]); //w - raw->map_ch[0]=map_fp32(raw->ch[0],-719,680,-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); +if (raw->ch[0] < 0) + raw->map_ch[0] = map_fp32(raw->ch[0], -696, 2, -1, 0); +else + raw->map_ch[0] = map_fp32(raw->ch[0], 2, 704, 0, 1); + +// ch[1] +if (raw->ch[1] < 0) + raw->map_ch[1] = map_fp32(raw->ch[1], -638, 5, -1, 0); +else + raw->map_ch[1] = map_fp32(raw->ch[1], 5, 762, 0, 1); + + raw->map_ch[2] = map_fp32(raw->ch[2], 2, 1377, 0, 1); + +// ch[3] +if (raw->ch[3] < 0) + raw->map_ch[3] = map_fp32(raw->ch[3], -344, 0, -1, 0); +else + raw->map_ch[3] = map_fp32(raw->ch[3], 0, 348, 0, 1); + /*非线性映射*/ raw->map_ch[0]=expo_map(raw->map_ch[0],0.7f); diff --git a/User/device/vofa.c b/User/device/vofa.c index 248e161..d1f8b7f 100644 --- a/User/device/vofa.c +++ b/User/device/vofa.c @@ -28,13 +28,14 @@ void vofa_tx_main(float *data) /*在下面使用对应的串口发送函数*/ +// CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); +// osDelay(1); +// CDC_Transmit_FS( tail, 4); // HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata)); // osDelay(1); -// HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_VOFA), tail, 4); -// osDelay(1); - CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); - osDelay(1); -// CDC_Transmit_FS( tail, 4); +// HAL_UART_Transmit_DMA(&huart1, tail, 4); +// osDelay(1); + } diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index 98d9c81..cbe6d3d 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -11,7 +11,7 @@ static CMD_NUC_t cmd_fromnuc; #endif - +fp32 send[4]={11.0f,45.0,1.f,4.0f}; void Task_nuc(void *argument){ (void)argument; /**/ @@ -29,6 +29,7 @@ void Task_nuc(void *argument){ task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); #endif NUC_StartReceiving(); + NUC_StartSending(send); if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } diff --git a/User/task/up_task.c b/User/task/up_task.c index c784f32..6422d55 100644 --- a/User/task/up_task.c +++ b/User/task/up_task.c @@ -70,7 +70,6 @@ void Task_up(void *argument) ALL_Motor_Control(&UP,&UP_CAN_out); osDelay(1); - /*can上设备数据获取*/ osMessageQueueGet(task_runtime.msgq.can.feedback.UP_CAN_feedback, &can, NULL, 0); @@ -92,8 +91,8 @@ void Task_up(void *argument) osMessageQueuePut(task_runtime.msgq.can.output.shoot5065 ,&UP_CAN_out.chassis5065, 0, 0); - vofa_send [0]=UP.vofa_send [0]; - vofa_send [1]=UP.vofa_send [1]; +// vofa_send [0]=UP.vofa_send [0]; +// vofa_send [1]=UP.vofa_send [1]; vofa_tx_main (vofa_send); tick += delay_tick; From 553de3fa5e31681fe40a7cea750848d9718f0d09 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Wed, 28 May 2025 20:45:26 +0800 Subject: [PATCH 03/13] =?UTF-8?q?=E7=BB=99nuc=E5=8F=91=E6=95=B0=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2.uvoptx | 26 ++- MDK-ARM/R2/R2.axf | Bin 2845372 -> 2847984 bytes User/Module/Chassis.c | 436 +++++++++++++++------------------------ User/Module/Chassis.h | 7 +- User/device/cmd.c | 7 +- User/device/cmd.h | 1 + User/task/chassis_task.c | 7 +- User/task/init.c | 4 +- User/task/nuc_task.c | 11 +- User/task/user_task.h | 6 +- 10 files changed, 212 insertions(+), 293 deletions(-) diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 58ce169..54c15c6 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 3 + 6 @@ -114,7 +114,7 @@ - BIN\CMSIS_AGDI.dll + STLink\ST-LINKIII-KEIL_SWO.dll @@ -140,7 +140,7 @@ 0 DLGUARM - + (105=-1,-1,-1,-1,0) 0 @@ -310,6 +310,26 @@ 1 imu_temp + + 31 + 1 + cmd + + + 32 + 1 + NUC_send + + + 33 + 1 + BMI088_t + + + 34 + 1 + bmi088 + 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 8272b1a95aac2cc54f761bd6465be606b29a0fb4..acddb4c8a80753a4c84b923a26de1e6489b96676 100644 GIT binary patch delta 101769 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/*主结构体不能为空 */ - if (ctrl->CMD_CtrlType== c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) return CHASSIS_OK; /*模式未改变直接返回*/ - c->chassis_ctrl.ctrl =ctrl->CMD_CtrlType ; - c->chassis_ctrl.mode =ctrl->CMD_mode ; - - return CHASSIS_OK; -} //设置控制模式 - - -/*该函数用来更新can任务获得的电机反馈值*/ +static int8_t Chassis_SetCtrl(Chassis_t *c, CMD_t *ctrl) { + if (c == NULL) return CHASSIS_ERR_NULL; + if (ctrl->CMD_CtrlType == c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) + return CHASSIS_OK; + c->chassis_ctrl.ctrl = ctrl->CMD_CtrlType; + c->chassis_ctrl.mode = ctrl->CMD_mode; + return CHASSIS_OK; +} int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) { - if (c == NULL) return CHASSIS_ERR_NULL; - if (can == NULL) return CHASSIS_ERR_NULL; - for (uint8_t i = 0; i < 4; i++) - { - c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed; - c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current; - } - - + if (c == NULL) return CHASSIS_ERR_NULL; + if (can == NULL) return CHASSIS_ERR_NULL; + for (uint8_t i = 0; i < 4; i++) { + c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed; + c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current; + } + return CHASSIS_OK; +} - return CHASSIS_OK; +int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_freq) { + if (c == NULL) return CHASSIS_ERR_NULL; + c->param = param; + + for (int i = 0; i < 4; i++) { + PID_init(&(c->pid.chassis_3508VecPID[i]), PID_POSITION_D, &(c->param->M3508_param)); + } + PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_param)); + PID_init(&(c->pid.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param)); + PID_init(&(c->pid.sick_CaliforYPID), PID_POSITION, &(c->param->Sick_CaliYparam)); + PID_init(&(c->pid.sick_CaliforXPID), PID_POSITION, &(c->param->Sick_CaliXparam)); + + LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波 + LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波 + LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波 + LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波 + + return CHASSIS_OK; +} + +fp32 gyro_kp = 1.0f; +fp32 PIAN = 0; + +void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) { + fp64 Nor_Vx, Nor_Vy; + normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy); + + c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw; // 右前 + c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw; // 右后 + c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw; // 左后 + c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw; // 左前 +} + +int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { + if (c == NULL) return CHASSIS_ERR_NULL; + if (ctrl == NULL) return CHASSIS_ERR_NULL; + + Chassis_SetCtrl(c, ctrl); + + // IMU加滤波修正 + c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); + + switch (c->chassis_ctrl.ctrl) { + case RCcontrol: // 手动控制 + /* + 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 + */ + c->NUC_send .send [0]=0; + c->NUC_send .send [1]=0; + c->NUC_send .send [2]=10; + c->NUC_send .send [3]=100; + + switch (c->chassis_ctrl.mode) { + case Normal: + c->move_vec.Vw = ctrl->Vw * 6000; + c->move_vec.Vx = ctrl->Vy * 6000; + c->move_vec.Vy = ctrl->Vx * 6000; + break; + case Pitch: + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + break; + case UP_Adjust: + c->move_vec.Vw = ctrl->Vw * 6000; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + break; + default: + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + break; + } + break; + + case AUTO: // 自动模式 + switch (c->chassis_ctrl.mode) { + + case AUTO_NAVI: // 自动雷达 + // 全向轮方向, 注意xy方向 + c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; + c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; + c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; + + abs_limit_fp(&c->move_vec.Vx, 2000.0f); + abs_limit_fp(&c->move_vec.Vy, 2000.0f); + abs_limit_fp(&c->move_vec.Vw, 2000.0f); + + c->NUC_send .send [0]=0; + break; + + case AUTO_NAVI_Pitch: + c->move_vec.Vw = 0; + c->move_vec.Vy = 0; + c->move_vec.Vx = 0; + + c->NUC_send .send [0]=1; + break; + case AUTO_NAVI_Adjust: + c->move_vec.Vw = ctrl->Vw * 6000; + c->move_vec.Vx = ctrl->Vy * 6000; + c->move_vec.Vy = ctrl->Vx * 6000; + + c->NUC_send .send [0]=1; + break; + default: + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + c->NUC_send .send [0]=0; + + break; + } + break; + + default: + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + break; + } + + // 电机速度限幅 + abs_limit_fp(&c->move_vec.Vx, 6000.0f); + abs_limit_fp(&c->move_vec.Vy, 6000.0f); + abs_limit_fp(&c->move_vec.Vw, 6000.0f); + + Chassis_speed_calculate(c, c->move_vec.Vx, c->move_vec.Vy, c->move_vec.Vw); + + for (uint8_t i = 0; i < 4; i++) { + c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]), + c->motorfeedback.rotor_rpm3508[i], + c->hopemotorout.OmniSpeedOut[i]); + out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; + } +c->NUC_send .send [1]=1; + return CHASSIS_OK; } -int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq) -{ - if (c == NULL) return CHASSIS_ERR_NULL; - - c->param = param; /*初始化参数 */ - - for(int i =0 ; i < 4 ; i++) - { - PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param)); //带D项滤波 - } - - PID_init(&(c->pid.chassis_PICKWzPID_HIGN),PID_POSITION,&(c->param->chassis_PICKWzPID_HIGN_param)); - - PID_init(&(c->pid.chassis_PICKWzPID_LOW),PID_POSITION,&(c->param->chassis_PICKWzPID_LOW_param)); - - - PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam)); - - PID_init(&(c->pid.sick_CaliforXPID),PID_POSITION,&(c->param->Sick_CaliXparam)); - - LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给角加速度做滤波 - - - LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波 - - LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波 - - LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波 - - // - - - return CHASSIS_OK; -} - -fp32 gyro_kp=1.0f; -fp32 PIAN=0; -void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算, -{ - fp64 Nor_Vx,Nor_Vy;//归一化后的数据 - normalize_vector(Vx,Vy,&Nor_Vx,&Nor_Vy); - -// c->hopemotorout.OmniSpeedOut[0] = -Vx+Vy+Vw;//右前 -// c->hopemotorout.OmniSpeedOut[1] = -Vx-Vy+Vw;//右后 -// c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后 -// c->hopemotorout.OmniSpeedOut[3] = Vx+Vy+Vw;//左前 -// c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右前 -// c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右后 -// c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左后 -// c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左前 - c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw ;//右前 - c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw ;//右后 - c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw ;//左后 - c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw ;//左前 - -// if(!Vw){ -// PIAN = jiuzheng(c->pos088 .imu_eulr .yaw ); -// } -// c->hopemotorout.OmniSpeedOut[0] += PIAN ;//右前 -// c->hopemotorout.OmniSpeedOut[1] += PIAN ;//右后 -// c->hopemotorout.OmniSpeedOut[2] += PIAN ;//左后 -// c->hopemotorout.OmniSpeedOut[3] += PIAN ;//左前 - -} -int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out) -{ - if(c ==NULL) return CHASSIS_ERR_NULL; - if(ctrl ==NULL) return CHASSIS_ERR_NULL; - - - Chassis_SetCtrl(c,ctrl); - - //此处对imu加滤波做修正 - c->pos088.bmi088.filtered_gyro.z =LowPassFilter2p_Apply(&(c->filled[0]),c->pos088.bmi088.gyro.z); - - switch (c->chassis_ctrl .ctrl) - { - case RCcontrol: //手动控制 - -/* - 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){ - 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; - - case AUTO : //在自动模式下 - - switch(c->chassis_ctrl.mode ){ - - - case AUTO_NAVI: //自动雷达 -// //这套是全向轮的方向,一定要注意这里的xy方向 - c->move_vec.Vw =ctrl->cmd_MID360 .posw *1000 ; - c->move_vec.Vy =-ctrl->cmd_MID360.posy *1000 ; - c->move_vec.Vx =-ctrl->cmd_MID360.posx *1000 ; -// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw); -// c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy); -// c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx); -// -// c->move_vec.Vw =PID_calc(&(c->pid.chassis_NaviWzPID),c->pos088.bmi088.gyro.z,c->move_vec.Vw); -// c->move_vec.Vx =PID_calc(&(c->pid.chassis_NaviVxPID),c->pos088.bmi088.accl.y,c->move_vec.Vx); -// c->move_vec.Vy =PID_calc(&(c->pid.chassis_NaviVyPID),c->pos088.bmi088.accl.x,c->move_vec.Vy); -// //电机速度限幅 - - abs_limit_fp(&c->move_vec.Vx,2000.0f); - - abs_limit_fp(&c->move_vec.Vy,2000.0f); - - abs_limit_fp(&c->move_vec.Vw,2000.0f); - - if(ctrl->status[5] ==1) - { - c->move_vec.Vw = c->move_vec.Vw * 0.8f; - c->move_vec.Vx = c->move_vec.Vx * 0.5f; - c->move_vec.Vy = c->move_vec.Vy * 0.5f; - } - - break; - - case AUTO_NAVI_Pitch: //自动视觉 - - c->move_vec.Vw =0; - c->move_vec.Vy =0; - c->move_vec.Vx =0 ; - - - -// if(abs_value(ctrl ->cmd_pick .posx )>20) -// { -// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0); -// -// } -// else if(abs_value(ctrl ->cmd_pick .posx )<0.1) -// { -// c->move_vec.Vw =0; -// } -// else -// c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0); - -// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw); - -// -// c->vofa_send[0]=c->move_vec.Vw; -// c->vofa_send[1]=-ctrl->cmd_pick .posx; -// - - - break ; - - } - break ; - -} - - - //电机速度限幅 - - abs_limit_fp(&c->move_vec.Vx,6000.0f); - - abs_limit_fp(&c->move_vec.Vy,6000.0f); - - abs_limit_fp(&c->move_vec.Vw,6000.0f); - - Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw); - - - for (uint8_t i = 0 ; i <4 ; i++) - { - c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),c->motorfeedback.rotor_rpm3508[i],c->hopemotorout.OmniSpeedOut[i]); - - out->motor_CHASSIS3508 .as_array[i] = c->final_out.final_3508out[i]; - } - -// c->vofa_send[0]=c->pos088.bmi088.gyro.z; - -// c->vofa_send[1]=c->motorfeedback .rotor_rpm3508 [0]; -// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [1]; -// c->vofa_send[3]=c->motorfeedback .rotor_rpm3508 [2]; -// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [3]; -// -// c->vofa_send[0]=c->hopemotorout .OmniSpeedOut [0]; -// c->vofa_send[1]=c->hopemotorout .OmniSpeedOut [0]; -//// c->vofa_send[2]=c->hopemotorout .OmniSpeedOut [2]; -// c->vofa_send[3]=c->hopemotorout .OmniSpeedOut [3]; - -//// c->vofa_send[4]=c->motorfeedback .rotor_rpm3508 [0]; -// c->vofa_send[0]=c->motorfeedback .rotor_rpm3508 [0]; -//// c->vofa_send[6]=c->motorfeedback .rotor_rpm3508 [2]; -// c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [3]; -// -// c->vofa_send[5]=c->pos088 .imu_eulr .yaw ; - - return CHASSIS_OK; - -} - pid_type_def pid; - - pid_param_t pid_param={ - .p = 0.50f, - .i = 0.0f, - .d = 0.0f, - .i_limit = 50.0f, - .out_limit = 100.0f - }; -fp32 jiuzheng(fp32 yaw) -{ - static fp32 pian_yaw=0; - static fp32 shang_yaw=0; - static int is=0; - - - if(is==0) - { - PID_init (&pid,PID_POSITION ,&pid_param); - is=1; - } - - pian_yaw+= (yaw - shang_yaw); - shang_yaw=yaw ; - - return PID_calc(&pid,pian_yaw,0); -} - diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index 919bb3e..bdc6868 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -90,7 +90,11 @@ typedef struct fp32 Vw; fp32 mul;//油门倍率 }ChassisMove_Vec; - +typedef struct +{ + fp32 send[4]; + +}NUC_send_t; /** * @brief @@ -160,6 +164,7 @@ typedef struct{ int32_t sick_dis[4]; //获取到的sick激光值 + NUC_send_t NUC_send; }Chassis_t; diff --git a/User/device/cmd.c b/User/device/cmd.c index eec5297..036881e 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -191,11 +191,14 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){ if(cmd ->CMD_CtrlType ==AUTO){ /*自动下的*/ + if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Adjust; + else { + if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal; else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Pitch; - else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI; + else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI; else cmd ->CMD_mode =Normal ; - + } } else if(cmd ->CMD_CtrlType ==RCcontrol){ /*手动下的*/ diff --git a/User/device/cmd.h b/User/device/cmd.h index 52d5703..bfb7904 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -25,6 +25,7 @@ typedef enum{ AUTO_NAVI, AUTO_NAVI_Pitch, + AUTO_NAVI_Adjust,//雷达调整 UP_Adjust,//上层调整 diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c index 28549a0..c5bdfe5 100644 --- a/User/task/chassis_task.c +++ b/User/task/chassis_task.c @@ -85,13 +85,14 @@ void Task_Chassis(void *argument) osMessageQueueReset(task_runtime.msgq.can.output.chassis3508);//清空队列 osMessageQueuePut(task_runtime.msgq.can.output.chassis3508, &out.motor_CHASSIS3508, 0, 0); //发送数据 - + osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc_send);//清空队列 + osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc_send, &chassis.NUC_send, 0, 0); //发送数据 vofa_send[0] = chassis.vofa_send[0]; - vofa_send[1] = chassis.vofa_send[1]; + vofa_send[1] = chassis.vofa_send[1]; vofa_send[2] = chassis.vofa_send[2]; vofa_send[3] = chassis.vofa_send[3]; vofa_send[4] = chassis.vofa_send[4]; - vofa_send[5] = chassis.vofa_send[5]; + vofa_send[5] = chassis.vofa_send[5]; vofa_send[6] = chassis.vofa_send[6]; vofa_send[7] = chassis.vofa_send[7]; diff --git a/User/task/init.c b/User/task/init.c index 4f20970..9b3e7af 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -85,7 +85,9 @@ void Task_Init(void *argument) { task_runtime.msgq.cmd.raw.nuc = osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL); - + task_runtime.msgq.cmd.raw.nuc_send = + osMessageQueueNew(3u,sizeof(NUC_send_t), NULL); + osKernelUnlock(); osThreadTerminate(osThreadGetId()); /* 结束自身 */ } diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index cbe6d3d..4060af7 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -5,13 +5,15 @@ NUC_t nuc_raw; CMD_NUC_t cmd_fromnuc; + +NUC_send_t NUC_send; #else static NUC_t nuc_raw; static CMD_NUC_t cmd_fromnuc; - +NUC_send_t NUC_send; #endif -fp32 send[4]={11.0f,45.0,1.f,4.0f}; +//fp32 send[4]={11.0f,45.0,1.f,4.0f}; void Task_nuc(void *argument){ (void)argument; /**/ @@ -29,7 +31,7 @@ void Task_nuc(void *argument){ task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); #endif NUC_StartReceiving(); - NUC_StartSending(send); + NUC_StartSending(NUC_send.send); if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } @@ -38,7 +40,8 @@ void Task_nuc(void *argument){ } osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc); osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0); - + osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, NULL, 0); + tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/ osDelayUntil(tick); diff --git a/User/task/user_task.h b/User/task/user_task.h index 928f2ef..958b2c3 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -58,17 +58,15 @@ typedef struct { struct { struct { osMessageQueueId_t rc; - osMessageQueueId_t nuc; + osMessageQueueId_t nuc; // osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/ - + osMessageQueueId_t nuc_send; //给nuc发 }raw; /*控制分离*/ osMessageQueueId_t UP_cmd_ctrl_t; osMessageQueueId_t CHASSIS_cmd_ctrl_t; - - osMessageQueueId_t status; } cmd; From 9fe37c6b89ded4ae21fbba824770ba31c09db33a Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Thu, 29 May 2025 19:37:09 +0800 Subject: [PATCH 04/13] =?UTF-8?q?oid=E7=BC=96=E7=A0=81=E5=99=A8=E6=9B=B4?= =?UTF-8?q?=E6=8D=A2=EF=BC=8C=E6=9B=B4=E6=94=B9can=5Fuse=E5=A4=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2.uvoptx | 6 +++--- MDK-ARM/R2/R2.axf | Bin 2847984 -> 2847980 bytes User/device/can_use.c | 5 +++-- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 54c15c6..28b9eeb 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 6 + 3 @@ -114,7 +114,7 @@ - STLink\ST-LINKIII-KEIL_SWO.dll + BIN\CMSIS_AGDI.dll @@ -140,7 +140,7 @@ 0 DLGUARM - (105=-1,-1,-1,-1,0) + 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index acddb4c8a80753a4c84b923a26de1e6489b96676..653d2007c5ccb44dd44e763c733270097add8760 100644 GIT binary patch delta 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zc|&HP5r?1P$&90tKGSOd@O+KW@F@J9A7@pDMW^zt=La{%r@|xQOnSJ+|M8{p=;Que z|GQ$i$0sPs7WRfMut+I*G`s}8Bsq#F!mD7FAf5qh7Hpp9C*i#TzX+FP1l#o2;YP-~ z{;$E%%?$8|@R)!h01y!&ZJ=zu+OlSiu!G}Gkx2#Im zdZFNXP55-%;_92ypZBkR<{t%{_G#=&Z35rPuhFz{!Sfn5%BmmUTBCa5f=!y;l*M&} zYn*dQ!N$FBc2iHOu_^uLiW;>G7i`p|R~FxRtHxzGH}uY1*3`JVusd^4^^ep4ykFxY z9Q!oLW^?N18Z8UwG;?!5tNu|s?~59z6)G@rgqyps#_z82wiU%tNdd-G~ z3pU928}w&|nhgrO+NElKoIZ9=&5DH!HLGuB?WE#aOSKpuhrcTX) z#S7*)Y?|(LLCs?474E|Q#r>|=(3+R<)vN_WYo5c@<`0L~tj0&04`qKU41?Ocw)(lj v4bV@2H$y*7-JARrUPqLSGH%bXn(r~AdFk+)=bW){NKKZS#Q!*NGXMSux=YKG diff --git a/User/device/can_use.c b/User/device/can_use.c index 4010af2..b256dba 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -32,7 +32,7 @@ #define CAN_M3508_MAX_ABS_CUR (20) #define CAN_M2006_MAX_ABS_CUR (10) -#define CAN_ENCODER_RESOLUTION (32768) //欧艾迪编码器分辨率 +#define CAN_ENCODER_RESOLUTION (4096) //欧艾迪编码器分辨率 CAN_RawRx_t raw_rx1;//原始的can数据 CAN_RawRx_t raw_rx2; @@ -93,7 +93,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, { case 0x01: feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24; - feedback->angle=(fp32)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f; + feedback->angle=(fp32)(4089-(fp32)feedback->ecd)/(4089-3861)*(70.0f-50.0f)+50.0f; + break; } } From 4c8a3945c4b9de45afbe988476f43c2bf0192108 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 31 May 2025 15:10:24 +0800 Subject: [PATCH 05/13] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E4=B8=80=E7=82=B9bug?= =?UTF-8?q?=EF=BC=8C=E7=BC=96=E7=A0=81=E5=99=A8=E9=87=8D=E6=96=B0=E6=A0=A1?= =?UTF-8?q?=E5=87=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2/R2.axf | Bin 2847980 -> 2847968 bytes User/Module/Chassis.c | 2 +- User/Module/config.c | 4 ++-- User/Module/up.c | 14 +++++++------- User/device/can_use.c | 2 +- 5 files changed, 11 insertions(+), 11 deletions(-) diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 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100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -110,13 +110,13 @@ static const ConfigParam_t param ={ }, /*投球*/ .PitchConfig_Config = { - .m2006_init_angle =-90, + .m2006_init_angle =-100, .m2006_trigger_angle =0, .go1_init_position = -50, .go1_Receive_ball = -5, //偏下 .go1_release_threshold =-210, .m2006_Screw_init=0, - .Pitch_angle =56, + .Pitch_angle =58, }, diff --git a/User/Module/up.c b/User/Module/up.c index df7dcd1..50969eb 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -317,7 +317,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) { if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ - u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE; + u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN; } //光电状态更新 Dribble_Process(u,out); @@ -444,8 +444,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) case DRIBBLE_PROCESS_DOWN: u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed; + u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; + u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, u->motorfeedback .DJmotor_feedback [1].rpm, @@ -461,8 +461,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) if(common_speed_flag){ if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测,反转 u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; } @@ -475,8 +475,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) common_speed_flag =0; if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&& - (u->motorfeedback .DJmotor_feedback [1].rpm>2000)&& - (u->motorfeedback .DJmotor_feedback [2].rpm>2000) + (u->motorfeedback .DJmotor_feedback [1].rpm>-2000)&& + (u->motorfeedback .DJmotor_feedback [2].rpm>-2000) ){ if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ diff --git a/User/device/can_use.c b/User/device/can_use.c index b256dba..90e9dd2 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -93,7 +93,7 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, { case 0x01: feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24; - feedback->angle=(fp32)(4089-(fp32)feedback->ecd)/(4089-3861)*(70.0f-50.0f)+50.0f; + feedback->angle=(fp32)(2048-(fp32)feedback->ecd)/(2048-1797)*(70.0f-48.0f)+48.0f; break; } From bcfaac985f3a54af54b557a943c14ff5678e39f3 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Mon, 2 Jun 2025 22:01:25 +0800 Subject: [PATCH 06/13] =?UTF-8?q?=E7=BB=99go=E5=8A=A0=E4=BD=8D=E7=BD=AE?= =?UTF-8?q?=E9=99=90=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2.uvoptx | 15 +++++++++++++++ MDK-ARM/R2/R2.axf | Bin 2847968 -> 2849360 bytes User/Algorithm/user_math.c | 16 +++++++++++++++- User/Algorithm/user_math.h | 1 + User/Module/Chassis.c | 21 +++++++++++++++++---- User/Module/config.c | 4 ++++ User/Module/up.c | 20 +++++++++++--------- User/Module/up.h | 2 ++ 8 files changed, 65 insertions(+), 14 deletions(-) diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 28b9eeb..17444bc 100644 --- a/MDK-ARM/R2.uvoptx +++ 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b/User/Algorithm/user_math.c @@ -216,7 +216,21 @@ void abs_limit_fp(fp32 *num, fp32 Limit) *num = -Limit; } } - +//改原始值,限制最大最小 +fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max) +{ + if (*num > Limit_max) + { + *num=Limit_max; + return Limit_max; + } + else if (*num < Limit_min) + { + *num=Limit_min; + return Limit_min; + + } +} /* 移动向量 */ MoveVector_t *mv; diff --git a/User/Algorithm/user_math.h b/User/Algorithm/user_math.h index dd4d8ab..0dad6dd 100644 --- a/User/Algorithm/user_math.h +++ b/User/Algorithm/user_math.h @@ -164,5 +164,6 @@ int read_flag_state(uint8_t flag) ; void normalize_vector(double x, double y, double *out_x, double *out_y) ; bool is_reached(float current, float target, float mistake) ; bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold) ; +fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max); #endif diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c index aa24b3d..9d3fea9 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -63,7 +63,7 @@ void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) { c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw; // 左后 c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw; // 左前 } - +float aaaaa=0; int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL; @@ -86,9 +86,22 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { switch (c->chassis_ctrl.mode) { case Normal: + + if(ctrl->Vw){ c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; + } + else + { + c->move_vec.Vw = ctrl->Vw * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa; + c->move_vec.Vx = ctrl->Vy * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa ; + c->move_vec.Vy = ctrl->Vx * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa ; + + + + } + break; case Pitch: c->move_vec.Vw = 0; @@ -117,9 +130,9 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; - abs_limit_fp(&c->move_vec.Vx, 2000.0f); - abs_limit_fp(&c->move_vec.Vy, 2000.0f); - abs_limit_fp(&c->move_vec.Vw, 2000.0f); + abs_limit_fp(&c->move_vec.Vx, 5000.0f); + abs_limit_fp(&c->move_vec.Vy, 5000.0f); + abs_limit_fp(&c->move_vec.Vw, 5000.0f); c->NUC_send .send [0]=0; break; diff --git a/User/Module/config.c b/User/Module/config.c index 93311b2..bbe561f 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -117,6 +117,10 @@ static const ConfigParam_t param ={ .go1_release_threshold =-210, .m2006_Screw_init=0, .Pitch_angle =58, + + .pull_speed =5, + + }, diff --git a/User/Module/up.c b/User/Module/up.c index 50969eb..57e024d 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -230,8 +230,10 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) (PID_calc (&(u->pid .Pitch_M2006_angle ), u->motorfeedback .Encoder.angle,u->motor_target .Shoot_Pitch_angle)) ); - - GO_SendData(u,u->motor_target .go_shoot,5 ); + + GO_SendData(u, + u->motor_target .go_shoot, + u->PitchContext .PitchConfig .pull_speed );//对应的拉动速度 for(int i=0;i<4;i++){ @@ -259,12 +261,14 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) if(u ==NULL) return 0; static int is_pitch=1; - + /*config值限位*/ + abs_limit_min_max_fp(&u->PitchContext.PitchConfig.go1_Receive_ball ,-208.0f,2.0f); + switch (c->CMD_CtrlType ) { case RCcontrol: //在手动模式下 - + switch (c-> CMD_mode ) { @@ -306,7 +310,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) break ; case UP_Adjust: //测试用 - + u->PitchContext .PitchConfig .pull_speed=5; u->PitchContext.PitchConfig.go1_Receive_ball += c->Vx ; u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; @@ -372,8 +376,6 @@ return 0; - - int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) { @@ -381,12 +383,12 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) case PITCH_START: // u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 - + u->PitchContext .PitchConfig .pull_speed=10; u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面,这里的检测条件可以更改 u->motor_target .Shoot_M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度,0 - + u->PitchContext .PitchConfig .pull_speed=6; u->PitchContext .PitchState=PITCH_PULL_TRIGGER; }//更改标志位 diff --git a/User/Module/up.h b/User/Module/up.h index d915ebf..5b5711e 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -69,6 +69,8 @@ typedef struct { fp32 m2006_Screw_init; fp32 Pitch_angle; + fp32 pull_speed; + } PitchConfig_t; /* 投球控制上下文 */ From 9567222df673c724dd10cd002b9af8882bc88abe Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Tue, 3 Jun 2025 23:16:33 +0800 Subject: [PATCH 07/13] =?UTF-8?q?=E6=94=B9=E8=A7=86=E8=A7=89=E5=A4=87?= =?UTF-8?q?=E7=94=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/main.c | 1 + MDK-ARM/R2.uvoptx | 5 ++++ MDK-ARM/R2/R2.axf | Bin 2849360 -> 2848600 bytes User/Module/Chassis.c | 6 ++-- User/Module/up.c | 27 ++++++++++------- User/device/cmd.c | 27 +++++++++-------- User/device/cmd.h | 23 ++++++-------- User/device/nuc.c | 68 ++++++++++++++++++++++-------------------- User/task/nuc_task.c | 2 +- 9 files changed, 85 insertions(+), 74 deletions(-) diff --git a/Core/Src/main.c b/Core/Src/main.c index f48044b..2372718 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -80,6 +80,7 @@ int main(void) /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); /* USER CODE BEGIN Init */ diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 17444bc..440962d 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -345,6 +345,11 @@ 1 NUC_send + + 38 + 1 + cmd_fromnuc + 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 5971779550f8fea9d45b8e0a5240c5cf48cd662b..8334e56eb96bbd87219312cb2f6e66c41aae5df8 100644 GIT binary patch delta 120685 zcmeFa33OD&)<0TxhVGM)KxZOz(wzaq93~BO0wE;GkN`p$lSqOA0t5&WWJnOufDFNd z79a>HDl$kQK#PJ5qH+}!1h1$J;W~iI&?t~OdA~ZRJ9O}__5SPK@4fGPYkjPBa_YBh z*REZ=s&?(Fb53*a{vLYi&K_DE)aiq~Hslg6K_YS&VkVSC5ff=fw(ce7Rw7ZRttQH+ zg+!T*`)CVM+^?=35=JxD&J6T;`U#@+1B>HITf4cl>ts8z*JiaTZBKitYiX!zrcrdT znnF8x94#iwoX$j9hU-;agOQ(RsOdmSP_+7xF7kP?HuR|Jpy?>FnW{Vz>dPP0H?>8o z%Y`lUTeX!q)~D5GqAaIG+4>$aa~-$t!d1FKtQK5iK_ZE{17g+9hHJE|y3jbD=Bhs$ zhttcY9hB>ou2Vf+JJ1ECajs1SI!GPtHkO)8-*cl99Z%wBI~@C=D*H z_xyy?9_lCFzwsQOKGdw<_9>-l>bB->XqI}m`9kCVdZk7fLUdcJpgO<(?uj z$EZpEU(+vC|A2D*^$7IpHMBDEFby+Vnk0(0v6YI&RTKYVEw#9S607BUBp8q$R4G|R zEq7NfS5%0NQ8NO)g0BD-9F!7Bq`R%4mfSClCQ%E|LDgt?+f(Y=z|J8amBcKSKwu8Fkc5Z2zn*Oz56qNsw&YYRR#0Z}5^rERlrR 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zg6a#w#Vk_0jqX!EUkM+f{pnrH*w9BSYhR>MvBxU@YL&JRDynZ=m zZG+lvqBm^`-A=53w$Xtp#eVQvm9Ee+ZP(>GcE@B@%gVq zBUH(3qxwFU_|DM?(~e>-npPPVbG2L)?;g**E^c{#?z^McLM@;>2l$@D45YI^06@B>#y+x!qpjg7Yb zYxuo1Uus{stJr8N4;Og3(isCQ!dDo*D#8h#<5|Xa72&S&>f~EUp}!fW72$5~LSuGC zxMyrqp4;UgZoEy2*vwfx-B4;Ay}Ir>oLn&^ptSAr={4qYHBz= QHDPL4UHdNmbIVWv2a0KFEdT%j diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c index 9d3fea9..5abd5c0 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -124,7 +124,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { case AUTO: // 自动模式 switch (c->chassis_ctrl.mode) { - case AUTO_NAVI: // 自动雷达 + case AUTO_MID360: // 自动雷达 // 全向轮方向, 注意xy方向 c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; @@ -137,14 +137,14 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { c->NUC_send .send [0]=0; break; - case AUTO_NAVI_Pitch: + case AUTO_MID360_Pitch: c->move_vec.Vw = 0; c->move_vec.Vy = 0; c->move_vec.Vx = 0; c->NUC_send .send [0]=0; break; - case AUTO_NAVI_Adjust: + case AUTO_MID360_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; diff --git a/User/Module/up.c b/User/Module/up.c index 57e024d..421a8a6 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -335,7 +335,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) case AUTO: switch(c-> CMD_mode) { - case AUTO_NAVI_Pitch: + case AUTO_MID360_Pitch: u->PitchContext .PitchConfig .go1_Receive_ball=LowPassFilter2p_Apply(&u->filled[0],c->pos); if (u->PitchContext .PitchState ==PITCH_PREPARE) @@ -348,7 +348,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) Pitch_Process(u,out); break ; - case AUTO_NAVI: + case AUTO_MID360: u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->PitchContext .PitchState = PITCH_PREPARE; @@ -432,6 +432,8 @@ return 0; int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) { static int common_speed_flag=0;//是否共速 + static int common_speed_reverse_flag=0;//是否共速 + switch (u->DribbleContext.DribbleState) { @@ -467,6 +469,7 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; + } } @@ -474,20 +477,24 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) break; case DRIBBLE_PROCESS_UP: - common_speed_flag =0; + common_speed_flag =0; - if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&& - (u->motorfeedback .DJmotor_feedback [1].rpm>-2000)&& - (u->motorfeedback .DJmotor_feedback [2].rpm>-2000) + if((u->motorfeedback .DJmotor_feedback [0].rpm<-500)&& + (u->motorfeedback .DJmotor_feedback [1].rpm<-500)&& + (u->motorfeedback .DJmotor_feedback [2].rpm<-500) ){ - - if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ + common_speed_reverse_flag=1; + + } + if(common_speed_reverse_flag){ + if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ u->DribbleContext .DribbleState=DRIBBLE_DONE; RELAY1_TOGGLE(0); //关闭气缸 - } - } + } + } break ; case DRIBBLE_DONE: + common_speed_reverse_flag=0; for(int i=0;i<3;i++){ u->motor_target.Dribble_M3508_speed[i]=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0 } diff --git a/User/device/cmd.c b/User/device/cmd.c index 036881e..027e402 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -99,17 +99,17 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){ switch(cmd->cmd_status){ case MID: - cmd->cmd_MID360.posx = n->navi.vx; - cmd->cmd_MID360.posy = n->navi.vy; - cmd->cmd_MID360.posw = n->navi.wz; + cmd->cmd_MID360.posx = n->MID360.vx; + cmd->cmd_MID360.posy = n->MID360.vy; + cmd->cmd_MID360.posw = n->MID360.wz; - cmd->pos =n->navi .pos ; + cmd->pos =n->MID360 .pos ; break; - case PICK : - cmd ->cmd_pick .posx =n->pick .posx ; - cmd ->cmd_pick .posy =n->pick .posy ; - cmd ->cmd_pick .posw =n->pick .posw ; + case VISION : + cmd ->cmd_pick .posx =n->camera.data1 ; + cmd ->cmd_pick .posy =n->camera.data2 ; + cmd ->cmd_pick .posw =n->camera.data3 ; break; @@ -153,11 +153,11 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) { { cmd ->CMD_CtrlType =AUTO; - if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI; //左中,右中,雷达 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360; //左中,右中,雷达 if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中,右中,无模式 - if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_NAVI_Pitch; //左中,右下,视觉 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中,右下,视觉 } else if(rc->dr16.sw_l==CMD_SW_DOWN) @@ -191,12 +191,12 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){ if(cmd ->CMD_CtrlType ==AUTO){ /*自动下的*/ - if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Adjust; + if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Adjust; else { if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =Normal; - else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_NAVI_Pitch; - else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_NAVI; + else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch; + else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_MID360; else cmd ->CMD_mode =Normal ; } } @@ -208,3 +208,4 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){ else cmd ->CMD_mode =Normal; } } + diff --git a/User/device/cmd.h b/User/device/cmd.h index bfb7904..6f77a9a 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -8,7 +8,7 @@ #include #define MID (0x09) -#define PICK (0x06) +#define VISION (0x02) #define NUC (0x08) typedef enum{ @@ -23,9 +23,9 @@ typedef enum{ Normal, //无模式 - AUTO_NAVI, - AUTO_NAVI_Pitch, - AUTO_NAVI_Adjust,//雷达调整 + AUTO_MID360, + AUTO_MID360_Pitch, + AUTO_MID360_Adjust,//雷达调整 UP_Adjust,//上层调整 @@ -48,18 +48,13 @@ typedef struct { fp32 angle; char flag; - }navi; + }MID360; struct { - fp32 posx; - fp32 posy; - fp32 posw; - }pick; - struct - { - fp32 angle; - }sick_cali; - + fp32 data1; + fp32 data2; + fp32 data3; + }camera;//相机 } CMD_NUC_t; /* 拨杆位置 */ diff --git a/User/device/nuc.c b/User/device/nuc.c index 57fce4c..49435ba 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -32,6 +32,7 @@ int8_t NUC_StartReceiving() { int8_t NUC_StartSending(fp32 *data) { + union { float x[4]; @@ -81,33 +82,34 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ n->ctrl_status =nucbuf[2]; switch (n->status_fromnuc) { -// case MID://控制帧0x09 -// /* 协议格式 -// 0xFF HEAD -// 0x09 控制帧 -// 0x01 相机帧 -// vx fp32 -// vy fp32 -// wz fp32 -// 0xFE TAIL -// */ -//// if(nucbuf[15]!=TAIL)goto error; -// instance.data[3] = nucbuf[6]; -// instance.data[2] = nucbuf[5]; -// instance.data[1] = nucbuf[4]; -// instance.data[0] = nucbuf[3]; -// n->navi.vx = instance.x[0]; // -// instance.data[7] = nucbuf[10]; -// instance.data[6] = nucbuf[9]; -// instance.data[5] = nucbuf[8]; -// instance.data[4] = nucbuf[7]; -// n->navi.vy = instance.x[1];// -// instance.data[11] = nucbuf[14]; -// instance.data[10] = nucbuf[13]; -// instance.data[9] = nucbuf[12]; -// instance.data[8] = nucbuf[11]; -// n->navi.wz = instance.x[2];// -// break; + case VISION://控制帧0x02 + /* 协议格式 + 0xFF HEAD + 0x02 控制帧 + 0x01 相机帧 + vx fp32 + vy fp32 + wz fp32 + 0xFE TAIL + */ + + + instance.data[3] = nucbuf[3]; + instance.data[2] = nucbuf[4]; + instance.data[1] = nucbuf[5]; + instance.data[0] = nucbuf[6]; + n->camera .data1 = instance.x[0]; // + instance.data[7] = nucbuf[7]; + instance.data[6] = nucbuf[8]; + instance.data[5] = nucbuf[9]; + instance.data[4] = nucbuf[10]; + n->camera .data2 = instance.x[1];// + instance.data[11] = nucbuf[11]; + instance.data[10] = nucbuf[12]; + instance.data[9] = nucbuf[13]; + instance.data[8] = nucbuf[14]; + n->camera .data3 = instance.x[2];// + break; case MID ://控制帧0x08 /* 协议格式 0xFF HEAD @@ -123,29 +125,29 @@ int8_t NUC_RawParse(CMD_NUC_t *n){ instance.data[2] = nucbuf[5]; instance.data[1] = nucbuf[4]; instance.data[0] = nucbuf[3]; - n->navi.vx = instance.x[0]; // + n->MID360.vx = instance.x[0]; // instance.data[7] = nucbuf[10]; instance.data[6] = nucbuf[9]; instance.data[5] = nucbuf[8]; instance.data[4] = nucbuf[7]; - n->navi.vy = instance.x[1];// + n->MID360.vy = instance.x[1];// instance.data[11] = nucbuf[14]; instance.data[10] = nucbuf[13]; instance.data[9] = nucbuf[12]; instance.data[8] = nucbuf[11]; - n->navi.wz = instance.x[2];// + n->MID360.wz = instance.x[2];// instance.data[15] = nucbuf[18]; instance.data[14] = nucbuf[17]; instance.data[13] = nucbuf[16]; instance.data[12] = nucbuf[15]; - n->navi.pos = instance.x[3];// + n->MID360.pos = instance.x[3];// instance.data[19] = nucbuf[22]; instance.data[18] = nucbuf[21]; instance.data[17] = nucbuf[20]; instance.data[16] = nucbuf[19]; - n->navi.angle = instance.x[4];// + n->MID360.angle = instance.x[4];// - n->navi.flag = nucbuf[23];// + n->MID360.flag = nucbuf[23];// break; diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index 4060af7..d9b83f7 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -31,7 +31,7 @@ void Task_nuc(void *argument){ task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); #endif NUC_StartReceiving(); - NUC_StartSending(NUC_send.send); +// NUC_StartSending(NUC_send.send); if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } From 5556d48921c1a4730d02be4598cbd5c579562f72 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Thu, 5 Jun 2025 16:47:27 +0800 Subject: [PATCH 08/13] =?UTF-8?q?=E6=80=BB=E8=BF=87=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2/R2.axf | Bin 2848600 -> 2850972 bytes User/Module/Chassis.c | 40 ++++++++++++++++++++++++++++--- User/Module/Chassis.h | 22 +++++++++++++----- User/Module/config.c | 40 ++++++++++++++++++++++++++----- User/Module/up.c | 53 +++++++++++++++++++++++++----------------- User/Module/up.h | 3 ++- 6 files changed, 121 insertions(+), 37 deletions(-) diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 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index 5abd5c0..a49c187 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -47,6 +47,8 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波 LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波 LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波 + + c->sick_cali .sickparam=c->param ->sickparam ; return CHASSIS_OK; } @@ -187,9 +189,41 @@ c->NUC_send .send [1]=1; - - - +/* +sick0,左1 +sick1,左2 +sick2,下1 + + +*/ + +//int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) +//{ +//// int32_t x_set; +//// int32_t y_set; +// if (c == NULL) return CHASSIS_ERR_NULL; +// if (ctrl == NULL) return CHASSIS_ERR_NULL; +// +// //yaw修正 +// if(fabs((fp32)c->sick_cali .sick_dis [0]-c->sick_cali .sick_dis [1])>(fp32)c->sick_cali .sickparam.w_error){ +// c->move_vec .Vw = PID_calc(&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0],c->sick_cali .sick_dis [1]); +// } + +// else { //大于误差 +// if(fabs((fp32)c->sick_cali .sick_dis[0]-c->sick_cali .sick_dis[1])>c->sick_cali .sickparam .xy_error) +// {//xy修正 +// c->move_vec .Vx =PID_calc (&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0], c->sick_cali .sickparam.x_set); +// c->move_vec .Vy =PID_calc (&(c->pid .chassis_SickVyPID),c->sick_cali .sick_dis [2], c->sick_cali .sickparam.y_set); +// } +// else {//修正OK后,给nuc返回值 +// +// +// } +// +// +// } +// +//} diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index bdc6868..8e153bb 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -58,7 +58,12 @@ typedef struct { AHRS_Eulr_t imu_eulr;//解算后存放欧拉角(弧度制) }ChassisImu_t; - +typedef struct { + int32_t w_error;//角度纠正时的允许误差量 + int32_t xy_error;//xy允许误差量 + int32_t x_set; + int32_t y_set; +}sickparam_t; /* 该结构体用于存取固定的一些参数 在config.c中更改后不再变化 */ typedef struct @@ -74,10 +79,13 @@ typedef struct pid_param_t NaviVx_param; pid_param_t NaviVy_param; pid_param_t NaviVw_param; + + pid_param_t Sick_CaliWparam; pid_param_t Sick_CaliYparam; pid_param_t Sick_CaliXparam; + sickparam_t sickparam; }Chassis_Param_t; @@ -148,9 +156,9 @@ typedef struct{ - pid_type_def chassis_NaviWzPID; - pid_type_def chassis_NaviVxPID; - pid_type_def chassis_NaviVyPID; + pid_type_def chassis_SickWzPID; + pid_type_def chassis_SickVxPID; + pid_type_def chassis_SickVyPID; pid_type_def sick_CaliforYPID; pid_type_def sick_CaliforXPID; @@ -161,8 +169,10 @@ typedef struct{ LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */ - - int32_t sick_dis[4]; //获取到的sick激光值 + struct { + int32_t sick_dis[3]; //获取到的sick激光值 + sickparam_t sickparam; + }sick_cali; NUC_send_t NUC_send; diff --git a/User/Module/config.c b/User/Module/config.c index bbe561f..9753e55 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -98,9 +98,9 @@ static const ConfigParam_t param ={ .DribbleConfig_Config = { .dribble_flag=0, .m3508_init_angle = -5, - .m3508_translate_angle = -930, + .m3508_translate_angle = 1000, .m3508_dribble_Reverse_speed=-3500, - . m3508_dribble_speed= 4000, // 转动速度 + .m3508_dribble_speed= 4000, // 转动速度 .m3508_dribble_init_speed=0, .light_3508_flag=0,//3508平移处的光电,0初始,1到位置 @@ -127,7 +127,7 @@ static const ConfigParam_t param ={ }, .chassis = {/**/ - + .M3508_param = { .p = 15.1f, .i = 0.02f, @@ -136,21 +136,49 @@ static const ConfigParam_t param ={ .out_limit =6000.0f, }, /*视觉*/ - .chassis_PICKWzPID_HIGN_param ={ //高响应 + .chassis_PICKWzPID_HIGN_param ={ .p = 1.0f, .i = 0.03f, .d = 0.03f, .i_limit = 100.0f, .out_limit =2000.0f, }, - .chassis_PICKWzPID_LOW_param ={ //高精度 + .chassis_PICKWzPID_LOW_param ={ .p = 0.5f, //1.0 0.5 .i = 0.5f, //0.01 0.04 .d = 0.0f, //0.02 0.02 .i_limit = 50.0f, .out_limit =1000.0f, }, - + .Sick_CaliWparam ={ + .p = 0.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit =0.0f, + }, + .Sick_CaliYparam ={ + .p = 0.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit =0.0f, + }, + .Sick_CaliXparam ={ + .p = 0.0f, + .i = 0.0f, + .d = 0.0f, + .i_limit = 0.0f, + .out_limit =0.0f, + }, + .sickparam={ + .w_error=1000, + .xy_error=1000, + .x_set=1000, + .y_set=1000, + + }, + }, diff --git a/User/Module/up.c b/User/Module/up.c index 421a8a6..27c43cc 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -296,17 +296,17 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) break; case Pitch : - if (u->PitchContext .PitchState ==PITCH_PREPARE) - { - u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 - } - - Pitch_Process(u,out); // if (u->PitchContext .PitchState ==PITCH_PREPARE) // { -// u->CoContext .CoState =CoTRANSLATE_OUT; -// } -// Co_Process(u,out); +// u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 +// } + +// Pitch_Process(u,out); + if (u->PitchContext .PitchState ==PITCH_PREPARE) + { + u->CoContext .CoState =CoTRANSLATE_OUT; + } + Co_Process(u,out); break ; case UP_Adjust: //测试用 @@ -344,15 +344,20 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) } /*根据距离实时计算所需pos*/ -// u->PitchContext .PitchConfig .go1_release_threshold=c->pos; - Pitch_Process(u,out); + u->PitchContext .PitchConfig .go1_init_position=c->pos; + if(u->CoContext .CoState == CoPITCH){ + u->CoContext.CoState=CoPITCH_MID360; + } + Co_Process(u,out); + +// Pitch_Process(u,out); break ; case AUTO_MID360: u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->PitchContext .PitchState = PITCH_PREPARE; - + u->DribbleContext .DribbleState = DRIBBLE_PREPARE; break ; @@ -382,7 +387,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) switch(u->PitchContext .PitchState){ case PITCH_START: -// u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 u->PitchContext .PitchConfig .pull_speed=10; u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; @@ -407,7 +412,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) break ; case PITCH_LAUNCHING: //等待发射 - u->PitchContext .PitchState=PITCH_COMPLETE; +// u->PitchContext .PitchState=PITCH_COMPLETE; break ; case PITCH_COMPLETE: //发射完成 @@ -528,7 +533,7 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) case CoTRANSLATE_OUT: u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 - if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 900)//速度为0认为卡主 { u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,运球转移状态 u->PitchContext .PitchState = PITCH_START; @@ -539,7 +544,7 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) case CoDRIBBLE: Dribble_Process(u,out); //状态停在DRIBBLE_DONE - Pitch_Process(u,out); //状态停在PITCH_PULL_TRIGGER + Pitch_Process(u,out); //状态停在PITCH_LAUNCHING //状态停在对应位置时,平移去给发射送球 if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING) { @@ -548,8 +553,8 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f)) { u->motor_target.Dribble_M3508_speed[0]=1000; - u->motor_target.Dribble_M3508_speed[1]=-1000; - u->motor_target.Dribble_M3508_speed[2]=-1000; + u->motor_target.Dribble_M3508_speed[1]=1000; + u->motor_target.Dribble_M3508_speed[2]=1000; u->CoContext .CoState =CoTRANSLATE_IN; } @@ -576,17 +581,23 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) } - if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主,卡到最右端 + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 900)//速度为0认为卡主,卡到最右端 { + u->CoContext .CoState =CoPITCH; + } break ; case CoPITCH: - - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + + + case CoPITCH_MID360: + u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + + break ; break ; } diff --git a/User/Module/up.h b/User/Module/up.h index 5b5711e..76859d7 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -34,6 +34,7 @@ typedef enum { CoDRIBBLE, //运球和蓄力阶段,再平移回去 CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 CoPITCH, //发射 + CoPITCH_MID360, //雷达发射 CoDONE, @@ -63,7 +64,7 @@ typedef enum { typedef struct { fp32 m2006_init_angle; // M2006初始角度-140 fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 - fp32 go1_init_position; // GO电机触发位置,0,初始位置 + fp32 go1_init_position; // GO电机触发位置,初始位置,后续更改用于发射的位置 fp32 go1_release_threshold; // go上升去合并扳机,扳机位置 fp32 go1_Receive_ball; //用在配合过程,用来接平移后的球 fp32 m2006_Screw_init; From afdb0edbc32e3ff8bead9ca6dbf9ecf9378b15c2 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Fri, 13 Jun 2025 16:24:49 +0800 Subject: [PATCH 09/13] =?UTF-8?q?sick=E8=BD=AC=E6=8E=A5=EF=BC=8C=E6=97=A0?= =?UTF-8?q?=E6=8A=A5=E9=94=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/c_cpp_properties.json | 108 +++++++++++++ MDK-ARM/.vscode/keil-assistant.log | 8 + MDK-ARM/.vscode/settings.json | 3 +- MDK-ARM/R2.uvoptx | 135 +++------------- MDK-ARM/R2/R2.axf | Bin 2850972 -> 2850004 bytes User/Module/Chassis.c | 64 ++++---- User/Module/config.c | 30 ++-- User/Module/up.c | 212 +++++++++++++------------- User/Module/up.h | 165 ++++++++++---------- User/device/can_use.c | 48 ++---- User/device/can_use.h | 8 +- User/device/nuc.c | 8 +- User/task/can_task.c | 1 - User/task/chassis_task.c | 2 + User/task/cmd_task.c | 5 +- User/task/nuc_task.c | 14 +- 16 files changed, 407 insertions(+), 404 deletions(-) diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json index fb4b89f..1efa7c0 100644 --- a/MDK-ARM/.vscode/c_cpp_properties.json +++ b/MDK-ARM/.vscode/c_cpp_properties.json @@ -415,6 +415,114 @@ "__vfp_status(x,y)=0" ], "intelliSenseMode": "${default}" + }, + { + "name": "R2", + "includePath": [ + "d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Include", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\bsp", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\device", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\task", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Algorithm", + "d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Module", + "d:\\Desktop\\r2\\R2_NEW\\R2\\MDK-ARM", + "d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\App", + "d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\Target", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Lib\\ARM", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src", + "d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src" + ], + "defines": [ + "USE_HAL_DRIVER", + "STM32F407xx", + "__CC_ARM", + "__arm__", + "__align(x)=", + "__ALIGNOF__(x)=", + "__alignof__(x)=", + "__asm(x)=", + "__forceinline=", + "__restrict=", + "__global_reg(n)=", + "__inline=", + "__int64=long long", + "__INTADDR__(expr)=0", + "__irq=", + "__packed=", + "__pure=", + "__smc(n)=", + "__svc(n)=", + "__svc_indirect(n)=", + "__svc_indirect_r7(n)=", + "__value_in_regs=", + "__weak=", + "__writeonly=", + "__declspec(x)=", + "__attribute__(x)=", + "__nonnull__(x)=", + "__register=", + "__breakpoint(x)=", + "__cdp(x,y,z)=", + "__clrex()=", + "__clz(x)=0U", + "__current_pc()=0U", + "__current_sp()=0U", + "__disable_fiq()=", + "__disable_irq()=", + "__dmb(x)=", + "__dsb(x)=", + "__enable_fiq()=", + "__enable_irq()=", + "__fabs(x)=0.0", + "__fabsf(x)=0.0f", + "__force_loads()=", + "__force_stores()=", + "__isb(x)=", + "__ldrex(x)=0U", + "__ldrexd(x)=0U", + "__ldrt(x)=0U", + "__memory_changed()=", + "__nop()=", + "__pld(...)=", + "__pli(...)=", + "__qadd(x,y)=0", + "__qdbl(x)=0", + "__qsub(x,y)=0", + "__rbit(x)=0U", + "__rev(x)=0U", + "__return_address()=0U", + "__ror(x,y)=0U", + "__schedule_barrier()=", + "__semihost(x,y)=0", + "__sev()=", + "__sqrt(x)=0.0", + "__sqrtf(x)=0.0f", + "__ssat(x,y)=0", + "__strex(x,y)=0U", + "__strexd(x,y)=0", + "__strt(x,y)=", + "__swp(x,y)=0U", + "__usat(x,y)=0U", + "__wfe()=", + "__wfi()=", + "__yield()=", + "__vfp_status(x,y)=0" + ], + "intelliSenseMode": "${default}" } ], "version": 4 diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index fa42cdc..2caa556 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -451,3 +451,11 @@ [info] Log at : 2025/3/28|21:46:16|GMT+0800 +[info] Log at : 2025/6/6|21:51:18|GMT+0800 + +[info] Log at : 2025/6/7|17:45:08|GMT+0800 + +[info] Log at : 2025/6/7|21:03:23|GMT+0800 + +[info] Log at : 2025/6/12|16:54:50|GMT+0800 + diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json index e9743cc..681d6c0 100644 --- a/MDK-ARM/.vscode/settings.json +++ b/MDK-ARM/.vscode/settings.json @@ -96,6 +96,7 @@ "limits": "c", "gimbal_task.h": "c", "gimgal.h": "c", - "navi.h": "c" + "navi.h": "c", + "up.h": "c" } } \ No newline at end of file diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 440962d..403d151 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -158,197 +158,102 @@ 0 1 - rc_ctrl,0x0A + Nor_Vx 1 1 - LD_raw,0x0A + Nor_Vy 2 1 - can,0x0A + count,0x0A 3 1 - UP,0x0A + count 4 1 - cmd_rc,0x0A + pid 5 1 - chassis + BMI088_t 6 1 - nuc_raw,0x0A + up,0x0A 7 1 - nucbuf + low,0x0A 8 1 - cmd_fromnuc + UP,0x0A 9 1 - up_cmd,0x0A + send,0x0A 10 1 - can_out + cmd,0x0A 11 1 - Nor_Vx + rc_ctrl,0x0A 12 1 - Nor_Vy + a,0x0A 13 1 - b + delay_aa,0x0A 14 1 - count,0x0A + aaaaaaaaaaa,0x0A 15 1 - count + task_runtime,0x0A 16 1 - raw_rx1,0x0A + last_tick,0x0A 17 1 - gyro_kp,0x0A + chassis,0x0A 18 1 - nucbuf,0x0A + can,0x0A 19 1 - vofa_send,0x0A - - - 20 - 1 - SendBuffer,0x10 - - - 21 - 1 - NUC_StartSending,0x0A - - - 22 - 1 - PIAN - - - 23 - 1 - pid - - - 24 - 1 - bmi088 - - - 25 - 1 - ist8310 - - - 26 - 1 - imu_eulr,0x0A - - - 27 - 1 - imu_temp,0x0A - - - 28 - 1 - htim10,0x0A - - - 29 - 1 - pulse - - - 30 - 1 - imu_temp - - - 31 - 1 - cmd - - - 32 - 1 - NUC_send - - - 33 - 1 - BMI088_t - - - 34 - 1 - bmi088 - - - 35 - 1 - up,0x0A - - - 36 - 1 - low,0x0A - - - 37 - 1 - NUC_send - - - 38 - 1 - cmd_fromnuc + can_rx,0x0A diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index f383ca8eb50999eccc60d654c34b274a26aec3ae..07eaeff6fc82836b1ea67147fd684976fd2003a3 100644 GIT binary patch delta 130056 zcmeFa33wDmw>REZ-81P-7AE^1CL4qRAwbZ8ECE7DSOZ362_%685(p3=LO>)z0iz-Y z8!bg-6A=|PA>aVAi;9XGTzOwvf})@j7!;W7`F_2;4>qm8;O{@~9zh-odiyiQ28Z-se<9dwDoW19 z!*jE3IosAR2v~3NBtgo0(or#y$id|=YZN_u3-Vw*6Eq9( zti;nDoYM8@Vu;WXque1YyzVr1JZ#)&JSX-+Vkd!|>PkC8?k-plXtZ+!9RrSg_hw)@oMGyHBq0iPU z?uKZ(tiEE1!9eMu24#%%WYWLlb!Q^cVKvHbW0Rz}oNQL!cIyZ9FK%9h1XMJ;zfWl2 zCgr5(ReG{fdE0AXQGZb|#q8@|O`lp>CMCKgeqCK_D7&6vkZwmWl5XbE_}@v0DUn$2 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ZfH`!0xPdomfH_b6+oRarG(LRme*sNUC_send .send [1]=1; /* -sick0,左1 +sick0,下 sick1,左2 -sick2,下1 +sick2,左1 */ -//int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) -//{ -//// int32_t x_set; -//// int32_t y_set; -// if (c == NULL) return CHASSIS_ERR_NULL; -// if (ctrl == NULL) return CHASSIS_ERR_NULL; -// -// //yaw修正 -// if(fabs((fp32)c->sick_cali .sick_dis [0]-c->sick_cali .sick_dis [1])>(fp32)c->sick_cali .sickparam.w_error){ -// c->move_vec .Vw = PID_calc(&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0],c->sick_cali .sick_dis [1]); -// } +int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) +{ + if (c == NULL) return CHASSIS_ERR_NULL; + if (ctrl == NULL) return CHASSIS_ERR_NULL; -// else { //大于误差 -// if(fabs((fp32)c->sick_cali .sick_dis[0]-c->sick_cali .sick_dis[1])>c->sick_cali .sickparam .xy_error) -// {//xy修正 -// c->move_vec .Vx =PID_calc (&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0], c->sick_cali .sickparam.x_set); -// c->move_vec .Vy =PID_calc (&(c->pid .chassis_SickVyPID),c->sick_cali .sick_dis [2], c->sick_cali .sickparam.y_set); -// } -// else {//修正OK后,给nuc返回值 -// -// -// } -// -// -// } -// -//} + + fp32 sick0 = c->sick_cali.sick_dis[0]; + fp32 sick1 = c->sick_cali.sick_dis[1]; + fp32 sick2 = c->sick_cali.sick_dis[2]; + const sickparam_t *param = &c->sick_cali.sickparam; + + fp32 diff = fabsf(sick0 - sick1); + + // 1. yaw修正 + if (diff > param->w_error) { + c->move_vec.Vw = PID_calc(&(c->pid.chassis_SickVxPID), diff, 0); + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + } + // 2. xy修正 + else if (diff > param->xy_error) { + c->move_vec.Vw = 0; + c->move_vec.Vx = PID_calc(&(c->pid.chassis_SickVxPID), sick0, param->x_set); + c->move_vec.Vy = PID_calc(&(c->pid.chassis_SickVyPID), sick2, param->y_set); + } + // 3. 修正完成 + else { + c->move_vec.Vw = 0; + c->move_vec.Vx = 0; + c->move_vec.Vy = 0; + + } + + return CHASSIS_OK; +} diff --git a/User/Module/config.c b/User/Module/config.c index 9753e55..0de4e36 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -95,13 +95,13 @@ static const ConfigParam_t param ={ /*上层其他参数*/ /*运球*/ - .DribbleConfig_Config = { + .DribbleCfg = { .dribble_flag=0, - .m3508_init_angle = -5, + .m3508_init_ang = -5, .m3508_translate_angle = 1000, - .m3508_dribble_Reverse_speed=-3500, - .m3508_dribble_speed= 4000, // 转动速度 - .m3508_dribble_init_speed=0, + .rev_spd=-1500, + .spd= 4000, // 转动速度 + .init_spd=0, .light_3508_flag=0,//3508平移处的光电,0初始,1到位置 .light_ball_flag=0,//检测球的flag @@ -109,21 +109,17 @@ static const ConfigParam_t param ={ }, /*投球*/ - .PitchConfig_Config = { - .m2006_init_angle =-100, - .m2006_trigger_angle =0, - .go1_init_position = -50, - .go1_Receive_ball = -5, //偏下 - .go1_release_threshold =-210, - .m2006_Screw_init=0, + .PitchCfg = { + .m2006_init =-100, //释放的角度 + .m2006_trig =0, //可以拉住发射的角度 + .go_init = -50, //仅用在go上电,初始位置 + .go_pull_pos =-210, .Pitch_angle =58, .pull_speed =5, - }, - - + }, .chassis = {/**/ @@ -172,8 +168,8 @@ static const ConfigParam_t param ={ .out_limit =0.0f, }, .sickparam={ - .w_error=1000, - .xy_error=1000, + .w_error=5000, + .xy_error=5000, .x_set=1000, .y_set=1000, diff --git a/User/Module/up.c b/User/Module/up.c index 27c43cc..54d8964 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -53,17 +53,17 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) // 初始化上层状态机 - if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机,运球 - u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值 - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; - u->DribbleContext .is_initialized = 1; + if (!u->DribbleCont .is_init) { //检查是否为第一次运行状态机,运球 + u->DribbleCont .DribbleConfig = u->param ->DribbleCfg ;//赋值 + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; + u->DribbleCont .is_init = 1; } - if (!u->PitchContext .is_initialized) { - u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值 - u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 - u->PitchContext .is_initialized = 1; + if (!u->Pitch_Cfg .is_init) { + u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值 + u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 + u->Pitch_Cfg .is_init = 1; } BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数,bsp层 @@ -96,8 +96,8 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) { u->cmd =c; /*光电状态更新*/ - u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); + u->DribbleCont .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); + u->DribbleCont .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); return 0; @@ -168,17 +168,8 @@ int8_t GO_SendData(UP_t *u, float pos, float limit) static int is_calibration=0; static fp32 error=0; //误差量 -// GO_MotorData_t *GO_calibration;//校准前,原始数据 u->motorfeedback .go_data = get_GO_measure_point() ; -// if(is_calibration==0) -// { -// is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 ); -// u->go_cmd.Pos = -50; //上电之后跑 -// error= GO_calibration->Pos ; -// } -// u->motorfeedback .go_data = GO_calibration; -// u->motorfeedback .go_data ->Pos= error ; -// u->go_cmd.Pos = pos; + // 读取参数 float tff = u->go_cmd.T; // 前馈力矩 @@ -214,7 +205,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) DJ_Speed_Control(u,0x201,&u->motorfeedback .DJmotor_feedback[0] ,&u->pid .Dribble_M3508_speed[0],u->motor_target .Dribble_M3508_speed[0]); DJ_Speed_Control(u,0x202,&u->motorfeedback .DJmotor_feedback[1] ,&u->pid .Dribble_M3508_speed[1],u->motor_target .Dribble_M3508_speed[1]); DJ_Speed_Control(u,0x203,&u->motorfeedback .DJmotor_feedback[2] ,&u->pid .Dribble_M3508_speed[2],u->motor_target .Dribble_M3508_speed[2]); - DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] , + DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] , &u->pid .Dribble_translate_M3508_angle , &u->pid .Dribble_translate_M3508_speed , u->motor_target .Dribble_translate_M3508_angle ); @@ -233,7 +224,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) GO_SendData(u, u->motor_target .go_shoot, - u->PitchContext .PitchConfig .pull_speed );//对应的拉动速度 + u->Pitch_Cfg .PitchConfig .pull_speed );//对应的拉动速度 for(int i=0;i<4;i++){ @@ -251,18 +242,23 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) } -int a=0; -int b=0; - int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) { if(u ==NULL) return 0; + if(out ==NULL) return 0; + if(c ==NULL) return 0; + + /*指针简化*/ + PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig; + DribbleCfg_t *DribbleCont = &u->DribbleCont.DribbleConfig; + + up_motor_target_t *target=&u->motor_target ; static int is_pitch=1; /*config值限位*/ - abs_limit_min_max_fp(&u->PitchContext.PitchConfig.go1_Receive_ball ,-208.0f,2.0f); + abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f); switch (c->CMD_CtrlType ) @@ -275,53 +271,49 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) case Normal : /*投篮*/ if(is_pitch){ - u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; - u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; + target->go_shoot =pitch_cfg->go_init ; + target->Shoot_Pitch_angle=pitch_cfg->Pitch_angle; is_pitch=0; } //让初始go位置只读一次,后面按调整模式更改的来,后面稳定了之后,可以跟随调整模式下一块删 - u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; - u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 + target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ; + u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 /*运球*/ RELAY1_TOGGLE(0);//关闭气缸 for(int i=0;i<3;i++){ - u->motor_target.Dribble_M3508_speed[i]=0; + target->Dribble_M3508_speed[i]=0; } - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle; - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 + target->Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_translate_angle; + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; //重置最初状态 break; case Pitch : -// if (u->PitchContext .PitchState ==PITCH_PREPARE) -// { -// u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 -// } - -// Pitch_Process(u,out); - if (u->PitchContext .PitchState ==PITCH_PREPARE) + if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) { - u->CoContext .CoState =CoTRANSLATE_OUT; - } - Co_Process(u,out); + u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 + } + + Pitch_Process(u,out); + break ; case UP_Adjust: //测试用 - u->PitchContext .PitchConfig .pull_speed=5; - u->PitchContext.PitchConfig.go1_Receive_ball += c->Vx ; - u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; + pitch_cfg ->pull_speed=5; + pitch_cfg ->go_release_pos += c->Vx ; + pitch_cfg->Pitch_angle += c->Vy/100; - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; - u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; + target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos; + target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle; break ; case Dribble: { - if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN; + if(u->DribbleCont.DribbleState== DRIBBLE_PREPARE){ + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN; } //光电状态更新 Dribble_Process(u,out); @@ -336,28 +328,28 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) switch(c-> CMD_mode) { case AUTO_MID360_Pitch: - u->PitchContext .PitchConfig .go1_Receive_ball=LowPassFilter2p_Apply(&u->filled[0],c->pos); + pitch_cfg ->go_init=LowPassFilter2p_Apply(&u->filled[0],c->pos); - if (u->PitchContext .PitchState ==PITCH_PREPARE) + if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) { - u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 + u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 } /*根据距离实时计算所需pos*/ - u->PitchContext .PitchConfig .go1_init_position=c->pos; - if(u->CoContext .CoState == CoPITCH){ - u->CoContext.CoState=CoPITCH_MID360; - } - Co_Process(u,out); + pitch_cfg ->go_release_pos=c->pos; +// if(u->CoContext .CoState == CoPITCH){ +// u->CoContext.CoState=CoPITCH_MID360; +// } +// Co_Process(u,out); -// Pitch_Process(u,out); + Pitch_Process(u,out); break ; case AUTO_MID360: - u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; + target->Shoot_M2006_angle =pitch_cfg ->m2006_init ; - u->PitchContext .PitchState = PITCH_PREPARE; - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; + u->Pitch_Cfg .PitchState = PITCH_PREPARE; + u->DribbleCont .DribbleState = DRIBBLE_PREPARE; break ; @@ -383,18 +375,22 @@ return 0; int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) { - - switch(u->PitchContext .PitchState){ + + PitchCfg_t *cfg = &u->Pitch_Cfg.PitchConfig; + PitchState_t *state =&u->Pitch_Cfg .PitchState; + up_motor_target_t *target=&u->motor_target ; + + switch(*state){ case PITCH_START: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 - u->PitchContext .PitchConfig .pull_speed=10; - u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; +// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 + cfg->pull_speed=10; + target->go_shoot = cfg->go_pull_pos; if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面,这里的检测条件可以更改 - u->motor_target .Shoot_M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度,0 - u->PitchContext .PitchConfig .pull_speed=6; - u->PitchContext .PitchState=PITCH_PULL_TRIGGER; + target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度,0 + u->Pitch_Cfg .PitchConfig .pull_speed=6; + *state=PITCH_PULL_TRIGGER; }//更改标志位 break ; @@ -403,16 +399,16 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) if( u->motorfeedback .DJmotor_feedback [4].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=u->PitchContext.PitchConfig.go1_Receive_ball; - if(is_reached (u->motorfeedback .go_data ->Pos ,u->motor_target .go_shoot ,1.0f)) + target->go_shoot=cfg->go_release_pos; + if(is_reached (u->motorfeedback .go_data ->Pos ,target->go_shoot ,1.0f)) { - u->PitchContext .PitchState=PITCH_LAUNCHING; + *state=PITCH_LAUNCHING; } } break ; case PITCH_LAUNCHING: //等待发射 -// u->PitchContext .PitchState=PITCH_COMPLETE; +// *state=PITCH_COMPLETE; break ; case PITCH_COMPLETE: //发射完成 @@ -439,41 +435,43 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) static int common_speed_flag=0;//是否共速 static int common_speed_reverse_flag=0;//是否共速 + DribbleCfg_t *DribbleCfg = &u->DribbleCont.DribbleConfig; + up_motor_target_t *target=&u->motor_target ; + DribbleState_t *DribbleState=&u->DribbleCont.DribbleState; - switch (u->DribbleContext.DribbleState) { + switch (u->DribbleCont.DribbleState) { case DRIBBLE_TRANSLATE: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + target->Dribble_translate_M3508_angle =DribbleCfg->m3508_translate_angle;//平行移动 if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 { - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,转移状态 + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,转移状态 } break; case DRIBBLE_PROCESS_DOWN: - u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; + target->Dribble_M3508_speed[0]=DribbleCfg->spd; + target->Dribble_M3508_speed[1]=DribbleCfg->spd; + target->Dribble_M3508_speed[2]=DribbleCfg->spd; if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, - u->motorfeedback .DJmotor_feedback [1].rpm, - u->motorfeedback .DJmotor_feedback [2].rpm, - u->motor_target.Dribble_M3508_speed [0], - u->motor_target.Dribble_M3508_speed [1], - u->motor_target.Dribble_M3508_speed[2], - 50.0f,50) + u->motorfeedback .DJmotor_feedback [1].rpm, + u->motorfeedback .DJmotor_feedback [2].rpm, + DribbleCfg->spd, + DribbleCfg->spd, + DribbleCfg->spd, 50.0f,50) ) { RELAY1_TOGGLE(1); //速度达到后打开气缸 common_speed_flag =1; } if(common_speed_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测,反转 - u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; - u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + if(u->DribbleCont .DribbleConfig .light_ball_flag == 0){//球下落检测,反转 + target->Dribble_M3508_speed[0]=DribbleCfg->rev_spd; + target->Dribble_M3508_speed[1]=DribbleCfg->rev_spd; + target->Dribble_M3508_speed[2]=DribbleCfg->rev_spd; - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; + *DribbleState=DRIBBLE_PROCESS_UP; } @@ -492,21 +490,21 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) } if(common_speed_reverse_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ - u->DribbleContext .DribbleState=DRIBBLE_DONE; - RELAY1_TOGGLE(0); //关闭气缸 + if(DribbleCfg->light_ball_flag == 1){ + *DribbleState=DRIBBLE_DONE; + RELAY1_TOGGLE(0); //关闭气缸 } } break ; case DRIBBLE_DONE: common_speed_reverse_flag=0; for(int i=0;i<3;i++){ - u->motor_target.Dribble_M3508_speed[i]=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0 + target->Dribble_M3508_speed[i]=DribbleCfg->init_spd ;//三摩擦速度归0 } /*标志位清零*/ - u->DribbleContext.DribbleConfig.light_ball_flag=0; - u->DribbleContext.DribbleConfig.light_3508_flag=0; + DribbleCfg->light_ball_flag=0; + DribbleCfg->light_3508_flag=0; break; @@ -531,12 +529,12 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) break ; case CoTRANSLATE_OUT: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 - if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 900)//速度为0认为卡主 + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle > 500)//速度为0认为卡主 { - u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,运球转移状态 - u->PitchContext .PitchState = PITCH_START; + u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,运球转移状态 + u->Pitch_Cfg .PitchState = PITCH_START; u->CoContext .CoState =CoDRIBBLE; } @@ -546,11 +544,11 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) Dribble_Process(u,out); //状态停在DRIBBLE_DONE Pitch_Process(u,out); //状态停在PITCH_LAUNCHING //状态停在对应位置时,平移去给发射送球 - if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING) + if(u->DribbleCont .DribbleState ==DRIBBLE_DONE && u->Pitch_Cfg.PitchState ==PITCH_LAUNCHING) { - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_init_ang; } - if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f)) + if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleCont .DribbleConfig.m3508_init_ang,1.0f)) { u->motor_target.Dribble_M3508_speed[0]=1000; u->motor_target.Dribble_M3508_speed[1]=1000; @@ -572,12 +570,12 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) ) { RELAY1_TOGGLE(1); //速度达到后打开气缸,送给发射 } - if(u->DribbleContext .DribbleConfig.light_ball_flag == 0) + if(u->DribbleCont .DribbleConfig.light_ball_flag == 0) { u->motor_target.Dribble_M3508_speed[0]=0; u->motor_target.Dribble_M3508_speed[1]=0; u->motor_target.Dribble_M3508_speed[2]=0; - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 } @@ -595,7 +593,7 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out) case CoPITCH_MID360: - u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + u->motor_target .go_shoot=u->Pitch_Cfg.PitchConfig.go_init; break ; break ; diff --git a/User/Module/up.h b/User/Module/up.h index 76859d7..b3265cc 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -27,7 +27,7 @@ */ -/*配合过程状态,co是合作的意思*/ +/*配合过程状态*/ typedef enum { CoPREPARE, // 准备阶段 CoTRANSLATE_OUT,//上方平移,去运球 @@ -43,8 +43,8 @@ typedef enum { typedef struct { CoState_t CoState; - uint8_t is_initialized ; -} CoContext_t; + uint8_t is_init ; +} CoCon_t; @@ -62,32 +62,32 @@ typedef enum { /* 投球参数配置 */ typedef struct { - fp32 m2006_init_angle; // M2006初始角度-140 - fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 - fp32 go1_init_position; // GO电机触发位置,初始位置,后续更改用于发射的位置 - fp32 go1_release_threshold; // go上升去合并扳机,扳机位置 - fp32 go1_Receive_ball; //用在配合过程,用来接平移后的球 - fp32 m2006_Screw_init; + fp32 m2006_init; // M2006初始角度 + fp32 m2006_trig; // M2006触发角度0,用来合并扳机 + fp32 go_init; // GO电机触发位置,初始位置,后续更改用于发射的位置 + fp32 go_pull_pos; // go上升去合并扳机,扳机位置 fp32 Pitch_angle; - fp32 pull_speed; + fp32 pull_speed;//go速度 + fp32 go_release_pos;//go松开,发射位置 -} PitchConfig_t; - +} PitchCfg_t; +//fp32 go_pull_pos; +// fp32 m2006_init; // M2006初始角度 +// fp32 m2006_trig; // M2006触发角度 +// fp32 go_init; // GO初始位置 +// fp32 go_release; // GO释放阈值 +// fp32 go_recv; // GO接球位置 +// fp32 screw_init; // 螺杆初始值 +// fp32 pitch_ang; // 投球角度 +// fp32 pull_spd; // 拉动速度 /* 投球控制上下文 */ typedef struct { PitchState_t PitchState; - PitchConfig_t PitchConfig; - - uint8_t is_initialized ; -} PitchContext_t; - - - - - - + PitchCfg_t PitchConfig; + uint8_t is_init ; +} Pitch_Cfg_t; /*运球*/ typedef enum { @@ -103,27 +103,27 @@ typedef enum { typedef struct { int8_t dribble_flag;//当移动三摩擦后为1,否则为0,防止发射撞到 - fp32 m3508_init_angle; // 平移前位置 + fp32 m3508_init_ang; // 3508平移前位置 fp32 m3508_translate_angle; // 平移后位置 - fp32 m3508_dribble_init_speed; - fp32 m3508_dribble_speed; // 转动速度 - fp32 m3508_dribble_Reverse_speed; + fp32 init_spd; + fp32 spd; // 转动速度 + fp32 rev_spd; /*光电标志位,初始值均为0,触发为1*/ int light_3508_flag;//3508平移处的光电,0初始,1到位置 int light_ball_flag;//检测球的flag -} DribbleConfig_t; +} DribbleCfg_t; /* 状态机上下文 */ typedef struct { DribbleState_t DribbleState; - DribbleConfig_t DribbleConfig; + DribbleCfg_t DribbleConfig; - uint8_t is_initialized; + uint8_t is_init; -} DribbleContext_t; +} DribbleCont_t; typedef struct { @@ -154,57 +154,12 @@ typedef struct pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环 - DribbleConfig_t DribbleConfig_Config; - PitchConfig_t PitchConfig_Config; + DribbleCfg_t DribbleCfg; + PitchCfg_t PitchCfg; GO_MotorCmd_t go_cmd; }UP_Param_t; - -typedef struct -{ - fp32 ecd; - fp32 rpm; - uint8_t id; - fp32 orig_angle; - fp32 last_angle; - int32_t round_cnt; - int init_cnt; - fp32 total_angle; -}DJmotor_feedback_t; - - typedef struct{ - - uint8_t up_task_run; - const UP_Param_t *param; - CoContext_t CoContext; - /*运球过程*/ - DribbleContext_t DribbleContext; - /*投篮过程*/ - PitchContext_t PitchContext; - - CMD_t *cmd; - - 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[6]; - - struct { - uint32_t ecd; - float angle; - }Encoder; - }motorfeedback; - - - - struct{ fp32 VESC_5065_M1_rpm; fp32 VESC_5065_M2_rpm; @@ -218,9 +173,9 @@ typedef struct{ fp32 Shoot_Pitch_angle; - }motor_target; - - struct{ + }up_motor_target_t; + +typedef struct{ pid_type_def VESC_5065_M1; @@ -240,11 +195,55 @@ typedef struct{ pid_type_def Dribble_translate_M3508_angle;//平移用的角度环 - }pid; - GO_MotorCmd_t go_cmd; + }up_pid_t; +typedef struct +{ + fp32 ecd; + fp32 rpm; + uint8_t id; + fp32 orig_angle; + fp32 last_angle; + int32_t round_cnt; + int init_cnt; + fp32 total_angle; +}DJmotor_feedback_t; + +typedef struct{ + + uint8_t up_task_run; + const UP_Param_t *param; + CoCon_t CoContext; + /*运球过程*/ + DribbleCont_t DribbleCont; + /*投篮过程*/ + Pitch_Cfg_t Pitch_Cfg; + + CMD_t *cmd; + + 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[6]; + + struct { + uint32_t ecd; + float angle; + }Encoder; + }motorfeedback; + + + + + up_pid_t pid; + up_motor_target_t motor_target; + + GO_MotorCmd_t go_cmd; /*经PID计算后的实际发送给电机的实时输出值*/ struct @@ -260,8 +259,6 @@ typedef struct{ fp32 vofa_send[8]; - - } UP_t; diff --git a/User/device/can_use.c b/User/device/can_use.c index 90e9dd2..bb02319 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -56,31 +56,20 @@ static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback, feedback->torque_current = raw_current * CAN_GM6020_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES; } -static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id, +static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback, const uint8_t *raw) { if (feedback == NULL || raw == NULL) return; - switch (id) - { - case CAN_SICK_ID_1: - feedback->raw_dis[0] = (uint16_t)(raw[0] << 8| raw[1]); + static uint16_t sick_rec[4]; - break ; - - case CAN_SICK_ID_2: - feedback->raw_dis[1] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - - case CAN_SICK_ID_3: - feedback->raw_dis[2] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - - case CAN_SICK_ID_4: - feedback->raw_dis[3] = (uint16_t)(raw[0] << 8| raw[1]); - - break ; - } + sick_rec[0] = (uint16_t)(raw[0] << 8 | raw[1]); + sick_rec[1] = (uint16_t)(raw[2] << 8 | raw[3]); + sick_rec[2] = (uint16_t)(raw[4] << 8 | raw[5]); + sick_rec[3] = (uint16_t)(raw[6] << 8 | raw[7]); + + feedback ->raw_dis [0]= sick_rec[0]; + feedback ->raw_dis [1]= sick_rec[1]; + feedback ->raw_dis [2]= sick_rec[2]; + feedback ->raw_dis [3]= sick_rec[3]; } void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, const uint8_t *raw) { @@ -384,19 +373,10 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) { CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data); detect_hook(CHASSIS3508M1_TOE + index); break; - case CAN_SICK_ID_1: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_1, can_rx->rx_data); - break; - case CAN_SICK_ID_2: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_2, can_rx->rx_data); - break; - case CAN_SICK_ID_3: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_3, can_rx->rx_data); - break; - case CAN_SICK_ID_4: - CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_4, can_rx->rx_data); - + case CAN_SICK_ID: + CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); break; + default: break; } diff --git a/User/device/can_use.h b/User/device/can_use.h index 066ded2..9339e47 100644 --- a/User/device/can_use.h +++ b/User/device/can_use.h @@ -18,10 +18,8 @@ typedef enum { CAN_UP_M3508_M5_ID = 0x205, /* 1 */ CAN_UP_M3508_M6_ID = 0x206, /* 2 */ - CAN_SICK_ID_1=0x301, - CAN_SICK_ID_2=0x302, - CAN_SICK_ID_3=0x303, - CAN_SICK_ID_4=0x304, + CAN_SICK_ID=0x305, + CAN_Encoder_ID=0x01, @@ -200,6 +198,6 @@ void CAN_Encoder_Control(CAN_t *can); void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, const uint8_t *raw) ; -static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id, +static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback, const uint8_t *raw) ; #endif diff --git a/User/device/nuc.c b/User/device/nuc.c index 49435ba..e309f3f 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,8 @@ static volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; -uint8_t nucbuf[31]; +static uint8_t nucbuf[31]; +static char SendBuffer[19]; static void NUC_IdleCallback(void) { @@ -28,11 +29,8 @@ int8_t NUC_StartReceiving() { return DEVICE_OK; return DEVICE_ERR; } - char SendBuffer[19]; - int8_t NUC_StartSending(fp32 *data) { - union { float x[4]; @@ -64,7 +62,7 @@ int8_t NUC_Restart(void) { return DEVICE_OK; } bool_t NUC_WaitDmaCplt(void) { - return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) == + return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,100) == SIGNAL_NUC_RAW_REDY); } diff --git a/User/task/can_task.c b/User/task/can_task.c index fcfc4ca..dabf5a4 100644 --- a/User/task/can_task.c +++ b/User/task/can_task.c @@ -47,7 +47,6 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; //一问一答sick数据指令 -// CAN_Sick_Control(&can); CAN_Encoder_Control(&can); /*can设备数据存入队列*/ diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c index c5bdfe5..58d3938 100644 --- a/User/task/chassis_task.c +++ b/User/task/chassis_task.c @@ -56,6 +56,8 @@ void Task_Chassis(void *argument) { #ifdef DEBUG task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId()); + task_runtime.freq.chassis=TASK_FREQ_CHASSIS; + task_runtime.last_up_time.chassis=tick; #endif /*imu数据获取*/ diff --git a/User/task/cmd_task.c b/User/task/cmd_task.c index a1f64de..8bf0203 100644 --- a/User/task/cmd_task.c +++ b/User/task/cmd_task.c @@ -30,8 +30,9 @@ void Task_cmd(void *argument){ while(1){ #ifdef DEBUG /*记录任务所需要的栈空间*/ - task_runtime.stack_water_mark.cmd = - osThreadGetStackSpace(osThreadGetId()); + task_runtime.stack_water_mark.cmd =osThreadGetStackSpace(osThreadGetId()); + task_runtime.last_up_time.cmd=tick; + task_runtime.freq.cmd=TASK_FREQ_CTRL_CMD; #endif osKernelLock(); /*锁住RTOS内核调度*/ diff --git a/User/task/nuc_task.c b/User/task/nuc_task.c index d9b83f7..94de5f9 100644 --- a/User/task/nuc_task.c +++ b/User/task/nuc_task.c @@ -13,26 +13,30 @@ static CMD_NUC_t cmd_fromnuc; NUC_send_t NUC_send; #endif -//fp32 send[4]={11.0f,45.0,1.f,4.0f}; +fp32 send[4]={11.0f,45.0,1.f,4.0f}; + void Task_nuc(void *argument){ (void)argument; /**/ // osDelay(TASK_INIT_DELAY_NUC); - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC; NUC_Init(&nuc_raw); uint32_t tick = osKernelGetTickCount(); - + while (1) { #ifdef DEBUG task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); + task_runtime .freq.nuc = TASK_FREQ_NUC; + task_runtime.last_up_time.nuc= tick; + #endif NUC_StartReceiving(); -// NUC_StartSending(NUC_send.send); - if (NUC_WaitDmaCplt()){ + NUC_StartSending(NUC_send.send); +// NUC_StartSending (send); + if (NUC_WaitDmaCplt()){ NUC_RawParse(&cmd_fromnuc); } else{ From e9710e65a5b7ba42d4216fab4b7391e5c811bcb3 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sun, 15 Jun 2025 16:29:12 +0800 Subject: [PATCH 10/13] =?UTF-8?q?sick=E5=AE=9A=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 + MDK-ARM/R2.uvoptx | 88 +----------------- MDK-ARM/R2/R2.axf | Bin 2850004 -> 2851340 bytes User/Module/Chassis.c | 142 +++++++++++++---------------- User/Module/Chassis.h | 36 ++------ User/Module/config.c | 36 ++++---- User/Module/up.c | 5 +- User/device/can_use.c | 1 + User/device/cmd.c | 1 + User/device/cmd.h | 1 + User/device/vofa.c | 78 ++++++++++------ 11 files changed, 152 insertions(+), 240 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 2caa556..4555934 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -459,3 +459,7 @@ [info] Log at : 2025/6/12|16:54:50|GMT+0800 +[info] Log at : 2025/6/13|16:30:54|GMT+0800 + +[info] Log at : 2025/6/14|15:14:16|GMT+0800 + diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 403d151..b1b816f 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -158,102 +158,22 @@ 0 1 - Nor_Vx + can,0x0A 1 1 - Nor_Vy + chassis,0x0A 2 1 - count,0x0A + UP,0x0A 3 1 - count - - - 4 - 1 - pid - - - 5 - 1 - BMI088_t - - - 6 - 1 - up,0x0A - - - 7 - 1 - low,0x0A - - - 8 - 1 - UP,0x0A - - - 9 - 1 - send,0x0A - - - 10 - 1 - cmd,0x0A - - - 11 - 1 - rc_ctrl,0x0A - - - 12 - 1 - a,0x0A - - - 13 - 1 - delay_aa,0x0A - - - 14 - 1 - aaaaaaaaaaa,0x0A - - - 15 - 1 - task_runtime,0x0A - - - 16 - 1 - last_tick,0x0A - - - 17 - 1 - chassis,0x0A - - - 18 - 1 - can,0x0A - - - 19 - 1 - can_rx,0x0A + NUC_send,0x0A diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 07eaeff6fc82836b1ea67147fd684976fd2003a3..45fd09e0ee7b8dd2c14fb65fc935e982c8bfdb4b 100644 GIT binary patch delta 122840 zcmeFa33yb+wlBV`c6FySL1&&jolbxdrZ6660|_Bv41)+5NCE^C#wG*=L=q-NKm-~o zK$JlRM1;fu4ag7>g`s#U9M?<%iWd_dN&I7rq9cbt*aMp}zM$|Ow}$tV#iQqoJ!rHn(8v9&De&b}(? z0&*qYDLlu8NxA_WhWfb&bdhut{(V9vUC4$xL4ogem2|P-cKj9C@r9i>+%Wh|K)#vy z6RD@{DHX`J!RAfp9kw(h{Wlb{{?2cz9IteebX)QF9{wEi9M2aaV zf8XG5S)r+0pWtEb&RG4LzklqCX|s^pzg*b!Ct0n%VkUUZFe4UQ28F zS)ZS`OS)Hxq|10uGKwl^ypO+vt#TE0W*|uk=7G%eruHToVR_MM0$FSM&S?}auPTVv z6%*3e;^ESPv@Gc7;z~(I!BDqn8PnSC*S&o}Pl&nT1CJ4eUa0-h>l~p!*I3Sb-yvqp 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JKLPo#{{yAU+u;BJ diff --git a/User/Module/Chassis.c b/User/Module/Chassis.c index 1924905..529a6e1 100644 --- a/User/Module/Chassis.c +++ b/User/Module/Chassis.c @@ -62,22 +62,24 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre fp32 gyro_kp = 1.0f; fp32 PIAN = 0; - +fp32 pian_yaw; void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) { fp64 Nor_Vx, Nor_Vy; normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy); - c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw; // 右前 - c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw; // 右后 - c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw; // 左后 - c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw; // 左前 + c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw+pian_yaw; // 右前 + c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw+pian_yaw; // 右后 + c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw +pian_yaw; // 左后 + c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw +pian_yaw; // 左前 + + Chassis_AngleCompensate(c); + } int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { if (c == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL; Chassis_SetCtrl(c, ctrl); - // IMU加滤波修正 c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z); @@ -92,12 +94,14 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { case RCcontrol: switch (c->chassis_ctrl.mode) { case Normal: - c->move_vec.Vw = ctrl->Vw * 6000; - c->move_vec.Vx = ctrl->Vy * 6000; - c->move_vec.Vy = ctrl->Vx * 6000; + c->move_vec.Vw = ctrl->Vw * 8000; + c->move_vec.Vx = ctrl->Vy * 8000; + c->move_vec.Vy = ctrl->Vx * 8000; break; case Pitch: - + c->move_vec.Vw = ctrl->Vw * 6000; + c->move_vec.Vx = ctrl->Vy * 6000; + c->move_vec.Vy = ctrl->Vx * 6000; break; case UP_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; @@ -159,6 +163,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { } c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; + return CHASSIS_OK; @@ -214,5 +219,36 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) } +pid_type_def pid; +pid_param_t pid_param={ + .p = 10.0f, + .i = 0.00f, + .d = 0.00f, + .i_limit = 2000.0f, + .out_limit =5000.0f, +}; + fp32 cur_angle,pian_angel; +int8_t Chassis_AngleCompensate(Chassis_t *c) +{ + if (c == NULL) return CHASSIS_ERR_NULL; +// int is_in;//是否初始化 +// if(is_in==0){ + PID_init(&pid,PID_POSITION,&pid_param); +// is_in=1; +// } + + + + if((c->move_vec.Vx || c->move_vec.Vy) && (c->move_vec.Vw== 0)) + { + pian_angel=cur_angle-AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + } + + else { + cur_angle=AngleChange(DEGREE,c->pos088.imu_eulr.yaw); + pian_angel=0; + } + pian_yaw = PID_calc(&pid,pian_angel,0); +} diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index dd09723..e2e2e4a 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -189,6 +189,7 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out); int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) ; +int8_t Chassis_AngleCompensate(Chassis_t *c) ; #endif diff --git a/User/Module/config.c b/User/Module/config.c index 134e59f..54bbfa0 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -110,7 +110,7 @@ static const ConfigParam_t param ={ }, /*投球*/ .PitchCfg = { - .m2006_init =-100, //释放的角度 + .m2006_init =-150, //释放的角度 .m2006_trig =0, //可以拉住发射的角度 .go_init = -50, //仅用在go上电,初始位置 .go_pull_pos =-210, diff --git a/User/device/can_use.c b/User/device/can_use.c index 0f2730c..eb86332 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -374,9 +374,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) { CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data); detect_hook(CHASSIS3508M1_TOE + index); break; - case CAN_SICK_ID: - CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); - break; + default: break; @@ -407,7 +405,9 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) { CAN_DJIMotor_Decode(&(can->motor.up_shoot_motor3508.as_array[index]), can_rx->rx_data); break; - + case CAN_SICK_ID: + CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data); + break; case CAN_Encoder_ID: CAN_Encoder_Decode(&(can->Oid),can_rx->rx_data); can->recive_flag |= 1 << 10; diff --git a/User/device/cmd.c b/User/device/cmd.c index f5fa1bf..7b9d47c 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -146,18 +146,20 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) { if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左上,右中,无模式 - if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左上,右上,手动调整 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Chassis_Adjust; //左上,右上,手动调整 + + if(rc->dr16.res > 3000) cmd ->CMD_mode =UP_Adjust; } else if(rc->dr16.sw_l==CMD_SW_MID) { cmd ->CMD_CtrlType =AUTO; - if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360; //左中,右中,雷达 + if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中,右中,雷达 - if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左中,右中,无模式 + if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =AUTO_MID360; //左中,右中,无模式 - if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =AUTO_MID360_Pitch; //左中,右下,视觉 + if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左中,右下,视觉 } else if(rc->dr16.sw_l==CMD_SW_DOWN) diff --git a/User/device/device.h b/User/device/device.h index 86a547a..897ba4f 100644 --- a/User/device/device.h +++ b/User/device/device.h @@ -28,8 +28,7 @@ extern "C" { #define SIGNAL_IST8310_MAGN_RAW_REDY (1u << 9) #define SIGNAL_ACTION_RAW_REDY (1u << 10) #define SIGNAL_OPSTIMER_REDY (1u << 11) -#define SIGNAL_R12DS_BUF1_REDY (1u << 12) -#define SIGNAL_DR16_RAW_REDY (1u <<13) +#define SIGNAL_RC_RAW_REDY (1u <<13) #define SIGNAL_AI_RAW_REDY (1u << 15) #define SIGNAL_KEY_REDY (1u << 16) diff --git a/User/device/nuc.c b/User/device/nuc.c index e309f3f..a1c723f 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -6,7 +6,7 @@ static volatile uint32_t drop_message = 0; static osThreadId_t thread_alert; -static uint8_t nucbuf[31]; + uint8_t nucbuf[31]; static char SendBuffer[19]; diff --git a/User/device/rc.c b/User/device/rc.c index bebd452..84c5658 100644 --- a/User/device/rc.c +++ b/User/device/rc.c @@ -12,8 +12,8 @@ #include "error_detect.h" -//#define DR16 -#define LD_t +#define DR16 +//#define LD_t #ifdef DR16 #define FRAME_LEN 36 @@ -38,14 +38,14 @@ int8_t RC_SBUS_Init(void ) if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL; BSP_UART_RegisterCallback(BSP_UART_REMOTE, BSP_UART_IDLE_LINE_CB, - RC_SBUS_RxCpltCallback); + RC_RxCpltCallback); memset(cbuf, 0, sizeof(cbuf));//初始化清空数据包 return DEVICE_OK; } -static void RC_SBUS_RxCpltCallback(void) { - osThreadFlagsSet(thread_alert, SIGNAL_DR16_RAW_REDY); +static void RC_RxCpltCallback(void) { + osThreadFlagsSet(thread_alert, SIGNAL_RC_RAW_REDY); // detect_hook(DR16_TOE); } int8_t RC_SBUS_Restart(void) { @@ -53,7 +53,7 @@ int8_t RC_SBUS_Restart(void) { __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REMOTE)); return DEVICE_OK; } -int8_t RC_SBUS_StartDmaRecv(void) { +int8_t RC_StartDmaRecv(void) { if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_REMOTE), (uint8_t *)cbuf, @@ -61,9 +61,9 @@ int8_t RC_SBUS_StartDmaRecv(void) { return DEVICE_OK; return DEVICE_ERR; } -bool RC_SBUS_WaitDmaCplt(uint32_t timeout) { - return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) == - SIGNAL_DR16_RAW_REDY); +bool RC_WaitDmaCplt(uint32_t timeout) { + return (osThreadFlagsWait(SIGNAL_RC_RAW_REDY, osFlagsWaitAll, timeout) == + SIGNAL_RC_RAW_REDY); } /*乐迪数据解析 */ int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD) @@ -197,7 +197,7 @@ int8_t DR16_ParseRaw(DR16_t *dr16) dr16->data.ch_l_y = ((cbuf[4] >>1) | (cbuf[5] <<7)); dr16->data.sw_r = ((cbuf[5] >>4)); dr16->data.sw_l = ((cbuf[5] >> 4) & 0x000C) >> 2; - + dr16->data.res= (fp32)((cbuf[16]|cbuf[17] << 8)); return 1; } int8_t RC_ParseRC( DR16_t *dr16,LD_raw_t *LD_raw, LD_Data_t *LD, CMD_RC_t *rc) { @@ -220,11 +220,11 @@ 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_DR16_t)dr16->data.sw_l; - rc->dr16.sw_r = (CMD_SwitchPos_DR16_t)dr16->data.sw_r; + rc->dr16.sw_l = (CMD_SwitchPos_t)dr16->data.sw_l; + rc->dr16.sw_r = (CMD_SwitchPos_t)dr16->data.sw_r; rc->dr16.key = dr16->data.key; - + rc->dr16.res = ((float)dr16->data.res - RC_CH_VALUE_MID) ; // rc->ch_res = ((float)dr16->data.res - DR16_CH_VALUE_MID) / full_range; diff --git a/User/device/rc.h b/User/device/rc.h index e21aaa5..86adf4b 100644 --- a/User/device/rc.h +++ b/User/device/rc.h @@ -11,6 +11,10 @@ /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ + + + + typedef __packed struct { uint16_t ch_r_x : 11; @@ -69,10 +73,10 @@ typedef __packed struct int8_t RC_SBUS_Init(void ); -static void RC_SBUS_RxCpltCallback(void) ; -int8_t RC_SBUS_Restart(void) ; -int8_t RC_SBUS_StartDmaRecv(void) ; -bool RC_SBUS_WaitDmaCplt(uint32_t timeout) ; +static void RC_RxCpltCallback(void) ; +int8_t RC_Restart(void) ; +int8_t RC_StartDmaRecv(void) ; +bool RC_WaitDmaCplt(uint32_t timeout) ; int8_t LD_ParseRaw( LD_raw_t *raw, LD_Data_t *LD); static bool DR16_DataCorrupted(const DR16_t *dr16) ; int8_t DR16_ParseRaw(DR16_t *dr16); diff --git a/User/task/rc_task.c b/User/task/rc_task.c index b34b109..15586ef 100644 --- a/User/task/rc_task.c +++ b/User/task/rc_task.c @@ -20,7 +20,9 @@ LD_Data_t LD; #else static DR16_t dr16; static CMD_RC_t cmd_rc; - static RC_ctrl_t cc; +static LD_raw_t LD_raw; +static LD_Data_t LD; + #endif @@ -31,10 +33,12 @@ static CMD_RC_t cmd_rc; * \brief dr16接收机 * * \param argument 未使用 - */ + */int aaaaaaaaaaaaaaaaaaa=0; void Task_rc(void *argument) { (void)argument; /* 未使用,消除警告 */ + const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_RC; + uint32_t tick = osKernelGetTickCount(); RC_SBUS_Init(); /* 初始化 */ while (1) { @@ -43,17 +47,26 @@ void Task_rc(void *argument) { task_runtime.stack_water_mark.rc = osThreadGetStackSpace(osThreadGetId()); #endif /* 开启DMA */ - RC_SBUS_StartDmaRecv(); - - if (RC_SBUS_WaitDmaCplt(30)) { + RC_StartDmaRecv(); +aaaaaaaaaaaaaaaaaaa++; + if (RC_WaitDmaCplt(30)) { RC_ParseRC(&dr16,&LD_raw,&LD, &cmd_rc); } else { - /* 处理dr16遥控器离线 ,乐迪不可用*/ - DR16_HandleOffline(&dr16, &cmd_rc); - LD_HandleOffline(&LD,&cmd_rc); + /* 处理遥控器离线*/ + + + + DR16_HandleOffline(&dr16, &cmd_rc); + LD_HandleOffline(&LD,&cmd_rc); + + + } osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0); + tick += delay_tick; + osDelayUntil(tick); + } } diff --git a/User/task/user_task.h b/User/task/user_task.h index 958b2c3..81c836e 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -20,7 +20,6 @@ #define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_NUC (500u) #define TASK_FREQ_CAN (1000u) -#define TASK_FREQ_R12DS (1000u) #define TASK_FREQ_RC (1000u) #define TASK_FREQ_ERROR_DTC (3u) From 91edfef2b3970f32b641d6c77a9d4288ae341894 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sun, 22 Jun 2025 19:22:22 +0800 Subject: [PATCH 12/13] 6.22 --- MDK-ARM/.vscode/keil-assistant.log | 4 +++ MDK-ARM/R2.uvoptx | 38 +++-------------------------- MDK-ARM/R2/R2.axf | Bin 2850364 -> 2850364 bytes User/Module/config.c | 2 +- User/Module/up.c | 2 +- 5 files changed, 10 insertions(+), 36 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 19d8611..488f11b 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -467,3 +467,7 @@ [info] Log at : 2025/6/18|17:47:04|GMT+0800 +[info] Log at : 2025/6/18|19:43:09|GMT+0800 + +[info] Log at : 2025/6/22|14:26:08|GMT+0800 + diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 8aacd56..42438c7 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -208,53 +208,23 @@ 10 1 - valid_check,0x0A + nuc_raw,0x0A 11 1 - nuc_raw,0x0A + cmd_fromnuc,0x0A 12 1 - cmd_fromnuc,0x0A + nucbuf,0x0A 13 1 - nucbuf,0x0A - - - 14 - 1 LD_raw,0x0A - - 15 - 1 - aeeaa,0x0A - - - 16 - 1 - aaaaaaaaaaaa,0x0A - - - 17 - 1 - valid_check,0x0A - - - 18 - 1 - aaaaaaaaaaaaaaaaaaaaaaaaaa,0x0A - - - 19 - 1 - aaaaaaaaaaaaaaaaaaa,0x0A - 0 @@ -262,7 +232,7 @@ 0 1 - 0 + 1 0 0 0 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 7fb44343cac780fec4c33ed4c2722bfc97b68ed9..9765c5f85d53f1232eb429a6e4cc0894f0407245 100644 GIT binary patch delta 330 zcmWN{y-Nad0LJm(d0y(3X7*zC=9yXDwR8k!6qG~d(BN`4_F{w460`+DOWab^AvZcT z26+az2o3!K(O*!sA1y&75`7=|3=e$U-3O_S$4)cy9$0E4upG%NWOmD{1aOAqY9fAUi|hW#wBEHAp|Dbd;1 H!dvkl$-Zxf delta 330 zcmXBLy-Nad0LJm(y_kBXnZ203*qK?~H5~>OMA;w-EfP6f=3ul0Z9&iyx3r1e=+qeG z8QdZ?^an)$L9|~r1d&Meg&z0}&+zT`@1!p7d+p%oyU<$xK|^x0$-Sbem)cEV)@)zZ zny~$_CiFsM+f79B#h>rDU!jLyTmDw#*!_r>o;DSsiPitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f); + abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f); switch (c->CMD_CtrlType ) From 8697e48ce99db37c9c34d0cf4f5991029f16a2b2 Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sun, 22 Jun 2025 21:16:11 +0800 Subject: [PATCH 13/13] =?UTF-8?q?6..22=E6=99=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2/R2.axf | Bin 2850364 -> 2850368 bytes User/Module/Chassis.c | 3 ++- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 9765c5f85d53f1232eb429a6e4cc0894f0407245..825937789c1bb2b6af0e493a9d42dfdc6146dc05 100644 GIT binary patch delta 4784 zcmYLN2UJ$qvS!XXdsBWsnl5q1Q3QI{QfN5S@R|C3z zci30c$X#Ju?Uc|L-U8*4uDy+C1GGN?CSYzS?F#7iH$lNoaKqGNnlE6XMJtYgL26aJ zc8TH{J4W*aNWeu2nyUl{TsujNY^|@k2e|E|W_=CC-Vgln)wkMV0S$O~x0Y&xt2iKE z`#cJ!V9^uppnxgri)Y$h&8|kx*aef6&l<2`!*eZ%W6ge{l^Wz}v8GpdA?Bxd(zP1kZe-}A02X5O7QGzc1o~y_bwH>+zR`R3cC4-gJHrqY zr>WdLa8;Sv&wQ~LCXPSR+p*t2>-3%gmDusA?kyl4qZ{-+0R8d)3;kp(J>a1o zp4|dH0P9*BU+R#lQrwL^NKla;MhV0ylc(_l@|B~PQ4TJu%FB2Km8#0yI0wb*r`EX;-<9&@c2&r1v#@I!<>DAWwx)s4F>t?tC%u^47=$#x@7;Kb5toka%I19Vg z#87%QPYv#F6hOIh3Ns2xoeDF)h7D?5xUrdV7!k%+a+yU+J71=zh8zAWqfAa0cKuxK z^3~NydVEAJeA76tMO5RNEf58m9A(VX!B^Eq8wh<=c8sB*a(Umk4D9=sxZK<^=eV6+ zuhra4orj9$09m;AAEF(YyiU@7HIW4lYVEVmUh3g{;tb?q;rqe{)Kd3`u{O~2LqVzB zjiW}0Szy|I#?CG}OM^OHs%^0rH+=Y!a0E!f=O6R&1ne9uh?$`{e5AMsruq^(UQd}3 z&DGF`&faR=C~=8SM~@c60en%#i2+m-8-uA+h2m}h=^~B2?MoEl0JV5;hFAh{9;eUZP;>C3^Piz73!pZYRXMj9hzd*bLkcd|nGO$n#`GVIKxZt0n2bUx!i5B!?6`n{I z>j2F7$r51#*oos)$Rb4GlBL2GXhNxFtT*7Uz2IDLS!-J849q$>A>|?6d|a3}-d+x!DK9*9t3`&hvJ$2G4b8_3)Y56PK(L 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ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; - c->NUC_send.send[0] = 1; + break; default:

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1 : 0; break; default: - c->move_vec.Vw = 0; - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; + break; } break; - case AUTO: // 自动模式 + case AUTO: switch (c->chassis_ctrl.mode) { - - case AUTO_MID360: // 自动雷达 - // 全向轮方向, 注意xy方向 + case AUTO_MID360: c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; - abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f); - - c->NUC_send .send [0]=0; break; - - case AUTO_MID360_Pitch: - c->move_vec.Vw = 0; - c->move_vec.Vy = 0; - c->move_vec.Vx = 0; - - c->NUC_send .send [0]=0; + case AUTO_MID360_Pitch: + break; - case AUTO_MID360_Adjust: + case AUTO_MID360_Adjust: c->move_vec.Vw = ctrl->Vw * 6000; c->move_vec.Vx = ctrl->Vy * 6000; c->move_vec.Vy = ctrl->Vx * 6000; - - c->NUC_send .send [0]=1; + c->NUC_send.send[0] = 1; break; default: - c->move_vec.Vw = 0; - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; - c->NUC_send .send [0]=0; - + break; } break; default: - c->move_vec.Vw = 0; - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; + break; } @@ -183,8 +157,12 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) { c->hopemotorout.OmniSpeedOut[i]); out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; } -c->NUC_send .send [1]=1; + + c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; return CHASSIS_OK; + + + } @@ -203,33 +181,35 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) if (ctrl == NULL) return CHASSIS_ERR_NULL; - fp32 sick0 = c->sick_cali.sick_dis[0]; + fp32 sick0 = c->sick_cali.sick_dis[0] ; fp32 sick1 = c->sick_cali.sick_dis[1]; fp32 sick2 = c->sick_cali.sick_dis[2]; const sickparam_t *param = &c->sick_cali.sickparam; - fp32 diff = fabsf(sick0 - sick1); + fp32 diff_yaw = -(fp32)(sick1 - sick2); + fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); + fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); - // 1. yaw修正 - if (diff > param->w_error) { - c->move_vec.Vw = PID_calc(&(c->pid.chassis_SickVxPID), diff, 0); - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; - } - // 2. xy修正 - else if (diff > param->xy_error) { - c->move_vec.Vw = 0; - c->move_vec.Vx = PID_calc(&(c->pid.chassis_SickVxPID), sick0, param->x_set); - c->move_vec.Vy = PID_calc(&(c->pid.chassis_SickVyPID), sick2, param->y_set); - } - // 3. 修正完成 - else { - c->move_vec.Vw = 0; - c->move_vec.Vx = 0; - c->move_vec.Vy = 0; - - } + c->move_vec.Vw = (fabsf(diff_yaw) > param->w_error) ? PID_calc(&(c->pid.SickCaliWzPID), diff_yaw, 0) : 0; + c->move_vec.Vx = (fabsf(diff_x) > param->xy_error) ? PID_calc(&(c->pid.SickCaliVxPID), diff_x, 0) : 0; + c->move_vec.Vy = (fabsf(diff_y) > param->xy_error) ? PID_calc(&(c->pid.SickCaliVyPID), diff_y, 0) : 0; + + static uint16_t reach_cnt = 0; + if (fabsf(diff_yaw) <= param->w_error && + fabsf(diff_x) <= param->xy_error && + fabsf(diff_y) <= param->xy_error) { + reach_cnt++; + if (reach_cnt >= 50) { + + c->sick_cali.is_reach = 1; + + } + } else { + reach_cnt = 0; + c->sick_cali.is_reach = 0; + } + return CHASSIS_OK; } diff --git a/User/Module/Chassis.h b/User/Module/Chassis.h index 8e153bb..dd09723 100644 --- a/User/Module/Chassis.h +++ b/User/Module/Chassis.h @@ -156,12 +156,10 @@ typedef struct{ - pid_type_def chassis_SickWzPID; - pid_type_def chassis_SickVxPID; - pid_type_def chassis_SickVyPID; + pid_type_def SickCaliWzPID; + pid_type_def SickCaliVxPID; + pid_type_def SickCaliVyPID; - pid_type_def sick_CaliforYPID; - pid_type_def sick_CaliforXPID; }pid; @@ -170,8 +168,9 @@ typedef struct{ LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */ struct { - int32_t sick_dis[3]; //获取到的sick激光值 + int32_t sick_dis[4]; //获取到的sick激光值 sickparam_t sickparam; + int is_reach; }sick_cali; NUC_send_t NUC_send; @@ -179,38 +178,17 @@ typedef struct{ }Chassis_t; -/** - * @brief - * - * @param c - * @param param - * @param mech_zero - * @param wheelPolar - * @return - */ - int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq); +int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq); -/** - * \brief - - */ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can); -/** - * \brief - - */ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out); -fp32 jiuzheng(fp32 yaw); +int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) ; - -/// @brief -/// @param c -void vesc_current_detection(Chassis_t *c); #endif diff --git a/User/Module/config.c b/User/Module/config.c index 0de4e36..134e59f 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -99,8 +99,8 @@ static const ConfigParam_t param ={ .dribble_flag=0, .m3508_init_ang = -5, .m3508_translate_angle = 1000, - .rev_spd=-1500, - .spd= 4000, // 转动速度 + .rev_spd=-2000, + .spd= 4200, // 转动速度 .init_spd=0, .light_3508_flag=0,//3508平移处的光电,0初始,1到位置 @@ -147,31 +147,31 @@ static const ConfigParam_t param ={ .out_limit =1000.0f, }, .Sick_CaliWparam ={ - .p = 0.0f, - .i = 0.0f, + .p = 4.5f, + .i = 0.005f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit =0.0f, + .i_limit = 500.0f, + .out_limit =1000.0f, }, .Sick_CaliYparam ={ - .p = 0.0f, - .i = 0.0f, + .p = 2.9f, + .i = 0.0051f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit =0.0f, + .i_limit = 500.0f, + .out_limit =3000.0f, }, .Sick_CaliXparam ={ - .p = 0.0f, - .i = 0.0f, + .p = 2.9f, + .i = 0.0065f, .d = 0.0f, - .i_limit = 0.0f, - .out_limit =0.0f, + .i_limit = 500.0f, + .out_limit =3000.0f, }, .sickparam={ - .w_error=5000, - .xy_error=5000, - .x_set=1000, - .y_set=1000, + .w_error=5, + .xy_error=5, + .x_set=927, + .y_set=1255, }, diff --git a/User/Module/up.c b/User/Module/up.c index 54d8964..95d17c1 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -520,7 +520,10 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) // CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 // CoPITCH, //发射 // CoDONE, - +//int8_t Trans_Process (UP_t *u, CAN_Output_t *out) +//{ +// +//} int8_t Co_Process(UP_t *u, CAN_Output_t *out) { switch(u->CoContext .CoState ) diff --git a/User/device/can_use.c b/User/device/can_use.c index bb02319..0f2730c 100644 --- a/User/device/can_use.c +++ b/User/device/can_use.c @@ -1,3 +1,4 @@ + /* CAN总线上的设备1到7 将所有CAN总线上挂载的设备抽象成单个设备进行管理和控制 diff --git a/User/device/cmd.c b/User/device/cmd.c index 027e402..f5fa1bf 100644 --- a/User/device/cmd.c +++ b/User/device/cmd.c @@ -205,6 +205,7 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){ if(rc->LD.key_G ==CMD_SW_DOWN ) cmd ->CMD_mode=Dribble ; else if(rc->LD.key_G ==CMD_SW_UP) cmd ->CMD_mode =Pitch; else if(rc->LD .key_H==CMD_SW_UP) cmd ->CMD_mode =UP_Adjust; + else if(rc->LD.key_C == CMD_SW_UP) cmd->CMD_mode =Chassis_Adjust; else cmd ->CMD_mode =Normal; } } diff --git a/User/device/cmd.h b/User/device/cmd.h index 6f77a9a..6e7df12 100644 --- a/User/device/cmd.h +++ b/User/device/cmd.h @@ -28,6 +28,7 @@ typedef enum{ AUTO_MID360_Adjust,//雷达调整 UP_Adjust,//上层调整 + Chassis_Adjust, Dribble , //运球 Pitch, //投篮,底盘锁定 diff --git a/User/device/vofa.c b/User/device/vofa.c index d1f8b7f..b897999 100644 --- a/User/device/vofa.c +++ b/User/device/vofa.c @@ -5,37 +5,61 @@ //用来对需要的数据进行串口绘图 (未添加接收函数) +//float vofa_send[8]; + +////发送函数 +//void vofa_tx_main(float *data) +//{ +// float fdata[8]={0}; +// uint8_t tail[4]; +// tail[0]=0x00; +// tail[1]=0x00; +// tail[2]=0x80; +// tail[3]=0x7f; +// /*在下面添加发送的数据*/ +// fdata[0] = data[0]; +// fdata[1] = data[1]; +// fdata[2] = data[2]; +// fdata[3] = data[3]; +// fdata[4] = data[4]; +// fdata[5] = data[5]; +// fdata[6] = data[6]; +// fdata[7] = data[7]; +// +// +// /*在下面使用对应的串口发送函数*/ +//// CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); +//// osDelay(1); +//// CDC_Transmit_FS( tail, 4); +//// HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata)); +//// osDelay(1); +// HAL_UART_Transmit_DMA(&huart1, tail, 4); +// osDelay(1); + +// +//} + float vofa_send[8]; //发送函数 void vofa_tx_main(float *data) { - float fdata[8]={0}; - uint8_t tail[4]; - tail[0]=0x00; - tail[1]=0x00; - tail[2]=0x80; - tail[3]=0x7f; - /*在下面添加发送的数据*/ - fdata[0] = data[0]; - fdata[1] = data[1]; - fdata[2] = data[2]; - fdata[3] = data[3]; - fdata[4] = data[4]; - fdata[5] = data[5]; - fdata[6] = data[6]; - fdata[7] = data[7]; - - - /*在下面使用对应的串口发送函数*/ -// CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata)); -// osDelay(1); -// CDC_Transmit_FS( tail, 4); -// HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata)); -// osDelay(1); -// HAL_UART_Transmit_DMA(&huart1, tail, 4); -// osDelay(1); + float fdata[8] = {0}; + uint8_t tail[4] = {0x00, 0x00, 0x80, 0x7f}; - -} + + for (int i = 0; i < 8; i++) { + fdata[i] = data[i]; + } + + uint8_t packet[8 * sizeof(float) + 4]; + memcpy(packet, fdata, 8 * sizeof(float)); + memcpy(packet + 8 * sizeof(float), tail, 4); + + /*在下面使用对应的串口发送函数*/ +// HAL_UART_Transmit_DMA(&huart6, packet, sizeof(packet)); +// CDC_Transmit_FS( packet, sizeof(packet)); +// osDelay(1); + +} \ No newline at end of file From 6913f1f34228d4bf67f2572513f2ed188e74128e Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 21 Jun 2025 15:53:18 +0800 Subject: [PATCH 11/13] =?UTF-8?q?sick=E6=94=B9can2=E7=AD=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 4 ++ MDK-ARM/R2.uvoptx | 90 +++++++++++++++++++++++++++-- MDK-ARM/R2.uvprojx | 10 ++-- MDK-ARM/R2/R2.axf | Bin 2851340 -> 2850364 bytes User/Module/Chassis.c | 56 ++++++++++++++---- User/Module/Chassis.h | 1 + User/Module/config.c | 2 +- User/device/can_use.c | 8 +-- User/device/cmd.c | 10 ++-- User/device/device.h | 3 +- User/device/nuc.c | 2 +- User/device/rc.c | 26 ++++----- User/device/rc.h | 12 ++-- User/task/rc_task.c | 29 +++++++--- User/task/user_task.h | 1 - 15 files changed, 196 insertions(+), 58 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 4555934..19d8611 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -463,3 +463,7 @@ [info] Log at : 2025/6/14|15:14:16|GMT+0800 +[info] Log at : 2025/6/16|23:35:32|GMT+0800 + +[info] Log at : 2025/6/18|17:47:04|GMT+0800 + diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index b1b816f..8aacd56 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -175,6 +175,86 @@ 1 NUC_send,0x0A + + 4 + 1 + pid,0x0A + + + 5 + 1 + pid_param,0x0A + + + 6 + 1 + cmd_rc,0x0A + + + 7 + 1 + cbuf,0x10 + + + 8 + 1 + cmd + + + 9 + 1 + rc_ctrl,0x0A + + + 10 + 1 + valid_check,0x0A + + + 11 + 1 + nuc_raw,0x0A + + + 12 + 1 + cmd_fromnuc,0x0A + + + 13 + 1 + nucbuf,0x0A + + + 14 + 1 + LD_raw,0x0A + + + 15 + 1 + aeeaa,0x0A + + + 16 + 1 + aaaaaaaaaaaa,0x0A + + + 17 + 1 + valid_check,0x0A + + + 18 + 1 + aaaaaaaaaaaaaaaaaaaaaaaaaa,0x0A + + + 19 + 1 + aaaaaaaaaaaaaaaaaaa,0x0A + 0 @@ -182,7 +262,7 @@ 0 1 - 1 + 0 0 0 0 @@ -1181,8 +1261,8 @@ 0 0 0 - ..\User\Algorithm\kalman.c - kalman.c + ..\User\Algorithm\user_cmsis_os2.c + user_cmsis_os2.c 0 0 @@ -1193,8 +1273,8 @@ 0 0 0 - ..\User\Algorithm\user_cmsis_os2.c - user_cmsis_os2.c + ..\User\Algorithm\kalman.c + kalman.c 0 0 diff --git a/MDK-ARM/R2.uvprojx b/MDK-ARM/R2.uvprojx index 2e3293a..42309e5 100644 --- a/MDK-ARM/R2.uvprojx +++ b/MDK-ARM/R2.uvprojx @@ -1248,16 +1248,16 @@ 1 ..\User\Algorithm\ahrs.c - - kalman.c - 1 - ..\User\Algorithm\kalman.c - user_cmsis_os2.c 1 ..\User\Algorithm\user_cmsis_os2.c + + kalman.c + 1 + ..\User\Algorithm\kalman.c + user_math.c 1 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 45fd09e0ee7b8dd2c14fb65fc935e982c8bfdb4b..7fb44343cac780fec4c33ed4c2722bfc97b68ed9 100644 GIT binary patch delta 123733 zcmZ^M3tUvi7yrzCEXzY&c?*aO0-_?Kp`n?rN(f4d&(uiK&=67aRb(b;WaKOKs)J>w zWkqU=fvxXHsaaWJ`70|kDoZo5)zn>A`<CbD2 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