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优化

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ZHAISHUI04 2025-06-27 23:05:03 +08:00
parent d0efaf8dab
commit 866e4de877
17 changed files with 471 additions and 196 deletions
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4
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -475,3 +475,7 @@
[info] Log at : 2025/6/24|03:28:50|GMT+0800 [info] Log at : 2025/6/24|03:28:50|GMT+0800
[info] Log at : 2025/6/26|19:47:59|GMT+0800
[info] Log at : 2025/6/27|16:40:58|GMT+0800

9
MDK-ARM/R2.uvoptx
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@ -188,12 +188,17 @@
<Ww> <Ww>
<count>6</count> <count>6</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText> <ItemText>tar_angle</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>7</count> <count>7</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>posss</ItemText> <ItemText>up_cmd</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>a,0x0A</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>

BIN
MDK-ARM/R2/R2.axf
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Binary file not shown.

41
User/Module/Chassis.c
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@ -47,9 +47,14 @@ int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_fre
} }
PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_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.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param));
PID_init(&(c->pid.SickCaliWzPID), PID_POSITION, &(c->param->Sick_CaliWparam)); /*sick*/
PID_init(&(c->pid.SickCaliVxPID), PID_POSITION, &(c->param->Sick_CaliXparam)); PID_init(&(c->pid.SickCaliWzInPID), PID_POSITION, &(c->param->SickCali_WInparam));
PID_init(&(c->pid.SickCaliVyPID), PID_POSITION, &(c->param->Sick_CaliYparam)); PID_init(&(c->pid.SickCaliWzOutPID), PID_POSITION, &(c->param->SickCali_WOutparam));
PID_init(&(c->pid.SickCaliVxInPID), PID_POSITION, &(c->param->SickCali_XInparam));
PID_init(&(c->pid.SickCaliVxOutPID), PID_POSITION, &(c->param->SickCali_XOutparam));
PID_init(&(c->pid.SickCaliVyInPID), PID_POSITION, &(c->param->SickCali_YInparam));
PID_init(&(c->pid.SickCaliVyOutPID), PID_POSITION, &(c->param->SickCali_YOutparam));
/*修正 */
PID_init(&(c->pid.Chassis_AngleAdjust), PID_POSITION, &(c->param->Chassis_AngleAdjust_param)); PID_init(&(c->pid.Chassis_AngleAdjust), PID_POSITION, &(c->param->Chassis_AngleAdjust_param));
LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波 LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波
@ -138,7 +143,17 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
c->move_vec.Vy = ctrl->Vx * 6000; c->move_vec.Vy = ctrl->Vx * 6000;
break; break;
case PassBall: //
default:
break;
}
case PASS_BALL:
switch (c->chassis_ctrl.mode)
{
case PB_UP:
case PB_MID:
case PB_DOWN:
c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
@ -146,10 +161,13 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
abs_limit_fp(&c->move_vec.Vy, 5000.0f); abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f); abs_limit_fp(&c->move_vec.Vw, 5000.0f);
break ; break ;
default:
}
break; break;
}
break; break;
default: default:
@ -171,7 +189,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i]; out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i];
} }
c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2]; // c->vofa_send[0] = (fp32)c->sick_cali.sick_dis[1] - c->sick_cali.sick_dis[2];
return CHASSIS_OK; return CHASSIS_OK;
@ -193,7 +211,7 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out)
{ {
if (c == NULL) return CHASSIS_ERR_NULL; if (c == NULL) return CHASSIS_ERR_NULL;
if (ctrl == NULL) return CHASSIS_ERR_NULL; if (ctrl == NULL) return CHASSIS_ERR_NULL;
fp32 delta_w,delta_x,delta_y;
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 sick1 = c->sick_cali.sick_dis[1];
@ -204,10 +222,9 @@ int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out)
fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set); fp32 diff_y = -(fp32)(sick1 - c->sick_cali.sickparam.y_set);
fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set); fp32 diff_x = (fp32)(sick0 - c->sick_cali.sickparam.x_set);
delta_w=(&c->pid.SickCaliWzInPID, diff_yaw, 0);
c->move_vec.Vw = (fabsf(diff_yaw) > param->w_error) ? PID_calc(&(c->pid.SickCaliWzPID), diff_yaw, 0) : 0; delta_x=(&c->pid.SickCaliVxInPID, diff_x, 0);
c->move_vec.Vx = (fabsf(diff_x) > param->xy_error) ? PID_calc(&(c->pid.SickCaliVxPID), diff_x, 0) : 0; delta_y=(&c->pid.SickCaliVyInPID, diff_y,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; static uint16_t reach_cnt = 0;
if (fabsf(diff_yaw) <= param->w_error && if (fabsf(diff_yaw) <= param->w_error &&

21
User/Module/Chassis.h
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@ -80,9 +80,13 @@ typedef struct
pid_param_t NaviVy_param; pid_param_t NaviVy_param;
pid_param_t NaviVw_param; pid_param_t NaviVw_param;
pid_param_t Sick_CaliWparam; pid_param_t SickCali_WInparam;
pid_param_t Sick_CaliYparam; pid_param_t SickCali_WOutparam;
pid_param_t Sick_CaliXparam; pid_param_t SickCali_YInparam;
pid_param_t SickCali_YOutparam;
pid_param_t SickCali_XInparam;
pid_param_t SickCali_XOutparam;
pid_param_t Chassis_AngleAdjust_param; pid_param_t Chassis_AngleAdjust_param;
sickparam_t sickparam; sickparam_t sickparam;
@ -154,12 +158,15 @@ typedef struct{
pid_type_def chassis_PICKWzPID_HIGN; pid_type_def chassis_PICKWzPID_HIGN;
/*存在较低误差*/ /*存在较低误差*/
pid_type_def chassis_PICKWzPID_LOW; pid_type_def chassis_PICKWzPID_LOW;
pid_type_def Chassis_AngleAdjust; pid_type_def Chassis_AngleAdjust;
pid_type_def SickCaliWzPID; /*sick */
pid_type_def SickCaliVxPID; pid_type_def SickCaliWzInPID;
pid_type_def SickCaliVyPID; pid_type_def SickCaliWzOutPID;
pid_type_def SickCaliVxInPID;
pid_type_def SickCaliVxOutPID;
pid_type_def SickCaliVyInPID;
pid_type_def SickCaliVyOutPID;
}pid; }pid;

91
User/Module/config.c
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@ -37,18 +37,18 @@ static const ConfigParam_t param ={
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
.Pitch_M2006_angle_param = { .Pitch_M2006_angle_param = {
.p = 600.0f, .p = 1600.0f,
.i = 0.0f, .i = 0.0f,
.d = 3.0f, .d = 3.0f,
.i_limit = 2000.0f, .i_limit = 4000.0f,
.out_limit = 3000.0f, .out_limit = 20000.0f,
}, },
.Pitch_M2006_speed_param={ .Pitch_M2006_speed_param={
.p = 5.0f, .p = 8.5f,
.i = 0.3f, .i = 0.03f,
.d = 0.0f, .d = 0.0f,
.i_limit = 2000.0f, .i_limit = 2000.0f,
.out_limit = 3000.0f, .out_limit = 15000.0f,
}, },
.Pitch_Angle_M2006_speed_param={ //俯仰跑速度环 .Pitch_Angle_M2006_speed_param={ //俯仰跑速度环
.p = 20.0f, .p = 20.0f,
@ -71,20 +71,32 @@ static const ConfigParam_t param ={
}, },
/*上层其他参数*/ /*上层其他参数,一些只是初始值，在运行过程中会被更改*/
/*投球*/ /*投球*/
.LaunchCfg = {
.m2006_init = -150.0f, // M2006初始角度
.m2006_trig = 0.0f, // M2006触发角度
.go_pull_pos = -214.0f, // go上升去合并扳机，扳机位置
.go_up_speed = 12.0f, // 上升速度
.go_down_speed = 6.0f, // 下降速度
.Pitch_angle = 66, //俯仰角
.go_init = -50
},
.PitchCfg = { .PitchCfg = {
.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 =-214,
.Pitch_angle =58,
.pull_speed =5, .go_init = -50, //仅用在go上电，初始位置
.go_release_pos=-200,
.Pitch_angle =66,
}, },
.PassCfg={
.go_wait =-10,
.go_release_pos =-150,
.Pitch_angle=66,
.go_up_speed =12,
.go_down_speed =5,
},
}, },
.chassis = {/**/ .chassis = {/**/
@ -111,26 +123,47 @@ static const ConfigParam_t param ={
.i_limit = 50.0f, .i_limit = 50.0f,
.out_limit =1000.0f, .out_limit =1000.0f,
}, },
.Sick_CaliWparam ={ .SickCali_WInparam = {
.p = 4.5f, .p = 0.0f,
.i = 0.005f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 500.0f, .i_limit = 0.0f,
.out_limit =1000.0f, .out_limit = 0.0f,
}, },
.Sick_CaliYparam ={ .SickCali_WOutparam = {
.p = 2.9f, .p = 0.0f,
.i = 0.0051f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 500.0f, .i_limit = 0.0f,
.out_limit =3000.0f, .out_limit = 0.0f,
}, },
.Sick_CaliXparam ={ .SickCali_YInparam = {
.p = 2.9f, .p = 0.0f,
.i = 0.0065f, .i = 0.0f,
.d = 0.0f, .d = 0.0f,
.i_limit = 500.0f, .i_limit = 0.0f,
.out_limit =3000.0f, .out_limit = 0.0f,
},
.SickCali_YOutparam = {
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 0.0f,
},
.SickCali_XInparam = {
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 0.0f,
},
.SickCali_XOutparam = {
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 0.0f,
}, },
.Chassis_AngleAdjust_param={ .Chassis_AngleAdjust_param={
.p = 10.0f, .p = 10.0f,

254
User/Module/up.c
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@ -43,11 +43,17 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f); LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f);
if (!u->Pitch_Cfg .is_init) { if (!u->PitchContext .is_init) {
u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值 u->PitchContext .PitchConfig = u->param ->PitchCfg ;//赋值
u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新
u->Pitch_Cfg .is_init = 1; u->PitchContext .is_init = 1;
} }
if(!u->PassContext.is_init) {
u->PassContext .PassCfg = u->param ->PassCfg ;//赋值
u->PassContext .PassState = PASS_STOP; //状态更新
u->PassContext .is_init = 1;
}
u->LaunchContext.LaunchCfg = u->param->LaunchCfg;
BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层 BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层
@ -118,8 +124,6 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
{ {
//电机控制 ，传进can //电机控制 ，传进can
@ -131,16 +135,17 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
/*俯仰2006，双环，内使用oid角度环，外电机速度环 /*俯仰2006，双环，内使用oid角度环，外电机速度环
*/ */
DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed, DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed,
(PID_calc (&(u->pid .Pitch_M2006_angle ), (PID_calc (&(u->pid .Pitch_M2006_angle ),
u->motorfeedback .Encoder.angle,u->motor_target .Pitch_angle)) u->motorfeedback .Encoder.angle,u->motor_target .Pitch_angle)+0.14)
); );
GO_SendData( GO_SendData(
&u->motorfeedback.go_data, &u->motorfeedback.go_data,
&u->go_cmd,u->motor_target .go_shoot, &u->go_cmd,u->motor_target .go_shoot,
u->Pitch_Cfg .PitchConfig .pull_speed u->motor_target.go_pull_speed
);//对应的拉动速度 );
for(int i=0;i<4;i++){ for(int i=0;i<4;i++){
out ->motor_UP3508_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ; out ->motor_UP3508_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ;
@ -166,17 +171,18 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
if(c ==NULL) return 0; if(c ==NULL) return 0;
/*指针简化*/ /*指针简化*/
PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig; PitchCfg_t *pitch_cfg = &u->PitchContext.PitchConfig;
LaunchCfg_t *LaunchCfg =&u->LaunchContext.LaunchCfg;
up_motor_target_t *target=&u->motor_target ; up_motor_target_t *target=&u->motor_target ;
/*config值限位*/ /*config值限位*/
abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f); abs_limit_min_max_fp(&u->PitchContext.PitchConfig.go_release_pos ,-215.0f,0.0f);
abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.Pitch_angle ,48.0f,67.0f); abs_limit_min_max_fp(&u->PitchContext.PitchConfig.Pitch_angle ,48.0f,67.0f);
/*部分数据更新*/ /*部分数据更新*/
static int is_pitch=1; static int is_pitch=1;
posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->Pitch_Cfg.Curve); posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve);
// if (u->Pitch_Cfg.Curve == CURVE_58) { // if (u->PitchContext.Curve == CURVE_58) {
// target->Pitch_angle = 58; // target->Pitch_angle = 58;
// } else { // } else {
// target->Pitch_angle = 66; // target->Pitch_angle = 66;
@ -186,84 +192,99 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{ {
case RCcontrol: //在手动模式下 case RCcontrol: //在手动模式下
switch (c-> CMD_mode ) switch (c-> CMD_mode )
{ {
case Normal : case Normal : //复位，go位置和俯仰角保持LaunchCfg最后修改后的位置，扳机2006角度复位用于发射
/*投篮*/ /*投篮*/
if(is_pitch){ if(is_pitch){
target->Shoot_M2006_angle = pitch_cfg->go_init ; target->go_shoot = LaunchCfg->go_init ;
target->Pitch_angle = pitch_cfg->Pitch_angle; target->Pitch_angle = LaunchCfg->Pitch_angle;
is_pitch=0; 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 } //初始上电
//LaunchCfg->go_up_speed=15;
target->Pitch_angle =LaunchCfg->Pitch_angle;
target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ;
u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
target->Shoot_M2006_angle=LaunchCfg->m2006_init;
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新
u->LaunchContext.LaunchState = Launch_Stop;
break; break;
case Pitch : case Pitch :
if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) if (u->PitchContext .PitchState ==PITCH_PREPARE)
{ {
u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
} }
Pitch_Process(u,out); Pitch_Process(u,out,c);
break ; break ;
case UP_Adjust: //测试用 case UP_Adjust: //测试用,手动使用pitch下的cfg
pitch_cfg ->pull_speed=5; LaunchCfg->go_up_speed=5;
pitch_cfg ->go_release_pos += c->Vx ; pitch_cfg ->go_release_pos += c->Vx ;
pitch_cfg->Pitch_angle += c->Vy/100; LaunchCfg->Pitch_angle += c->Vy/100;
target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos; target->go_shoot=pitch_cfg ->go_release_pos;
target->Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle; target->Pitch_angle=LaunchCfg->Pitch_angle;
break ; break ;
default:
break;
} }
break; break;
case AUTO: case AUTO:
/*自动下数据更新，根据距离切换俯仰角,如需自动调整，放在*/ /*自动下数据更新，根据距离切换俯仰角,如需自动调整，放在*/
if (u->Pitch_Cfg.Curve == CURVE_58) { // if (u->PitchContext.Curve == CURVE_58) {
target->Pitch_angle = 58; // target->Pitch_angle = 58;
} else { // } else {
target->Pitch_angle = 66; // target->Pitch_angle = 66;
} // }
switch(c-> CMD_mode) switch(c-> CMD_mode)
{ {
case AUTO_MID360_Pitch: case AUTO_MID360_Pitch:
if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) if (u->PitchContext .PitchState ==PITCH_PREPARE || u->PitchContext .PitchState ==PITCH_COMPLETE)
{ {
u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 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*/ /*根据距离实时计算所需pos*/
if(c->pos){
pitch_cfg ->go_release_pos= pitch_cfg ->go_release_pos=
CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->Pitch_Cfg.Curve); CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve);
}
Pitch_Process(u,out); else pitch_cfg ->go_release_pos=0 ;
Pitch_Process(u,out,c);
break ; break ;
case AUTO_MID360: case AUTO_MID360:
target->Shoot_M2006_angle =pitch_cfg ->m2006_init ; target->Shoot_M2006_angle =LaunchCfg ->m2006_init ;
u->Pitch_Cfg .PitchState = PITCH_PREPARE;
break ; break ;
default:
break;
} }
break ; break ;
case PASS_BALL:
// if (u->PitchContext.Curve == CURVE_58) {
// target->Pitch_angle = 58;
// } else {
// target->Pitch_angle = 66;
// }
Pass_Process(u,out,c);
break;
case RELAXED: case RELAXED:
// target->go_shoot= pitch_cfg . // target->go_shoot= pitch_cfg .
target->go_shoot = pitch_cfg->go_init;
target->Pitch_angle = 58; target->Pitch_angle = 58;
target->Shoot_M2006_angle =pitch_cfg->m2006_init; target->go_shoot = -210.0f;
// target->Pitch_angle = 58;
break ; break ;
@ -275,58 +296,133 @@ return 0;
//复用发射，
int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out){
switch(LaunchContext->LaunchState){
case Launch_Stop: break;
case Launch_PREPARE:
u->motor_target.go_shoot = StartPos;
if(is_reached(u->motorfeedback.go_data.Pos,StartPos,1.0f)&&
is_reached(u->motorfeedback.go_data.W,0,1.0f)){
//根据位置和速度判断是否到达初始位置
LaunchContext->LaunchState = Launch_START;
}break;
case Launch_START:
u->motor_target.go_pull_speed=LaunchContext->LaunchCfg.go_up_speed;
u->motor_target.go_shoot = u->LaunchContext.LaunchCfg.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->LaunchContext.LaunchCfg.m2006_trig ;//设置2006角度，关闭
LaunchContext->LaunchState = Launch_TRIGGER;
}break;
case Launch_TRIGGER:
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_pull_speed=LaunchContext->LaunchCfg.go_down_speed;
u->motor_target.go_shoot = EndPos ;
if(is_reached(u->motorfeedback.go_data.Pos,EndPos,1.0f))
LaunchContext->LaunchState = Launch_SHOOT_WAIT;
} break;
case Launch_SHOOT_WAIT:
if(u->motorfeedback.DJmotor_feedback[4].total_angle<-1) //认为发射
LaunchContext->LaunchState = Launch_DONE;
break;
case Launch_DONE:
break ;
}
}
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
{ {
/*简化*/
PitchCfg_t *cfg = &u->Pitch_Cfg.PitchConfig; PitchCfg_t *cfg = &u->PitchContext.PitchConfig;
PitchState_t *state =&u->Pitch_Cfg .PitchState; PitchState_t *state =&u->PitchContext .PitchState;
up_motor_target_t *target=&u->motor_target ; up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext;
// 可根据实际需要传入不同的起始和末位置,起始：当前位置
Pitch_Launch_Sequence(u, LaunchContext, u->motorfeedback.go_data.Pos, cfg->go_release_pos, out);
switch(*state){ switch(*state){
case PITCH_START: case PITCH_START:
// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 LaunchContext->LaunchState = Launch_PREPARE;
cfg->pull_speed=12;
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 *state=PITCH_WAIT;
target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0 break;
u->Pitch_Cfg .PitchConfig .pull_speed=6;
*state=PITCH_PULL_TRIGGER;
}//更改标志位
break ; case PITCH_WAIT:
case PITCH_PULL_TRIGGER:
if(LaunchContext->LaunchState==Launch_DONE)
*state=PITCH_COMPLETE;
break;
case PITCH_COMPLETE:
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 break;
{ default:
target->go_shoot=cfg->go_release_pos; break;
if(is_reached (u->motorfeedback .go_data .Pos ,target->go_shoot ,1.0f))
{
*state=PITCH_LAUNCHING;
}
}
break ;
case PITCH_LAUNCHING: //等待发射
// *state=PITCH_COMPLETE;
break ;
case PITCH_COMPLETE: //发射完成
break ;
} }
return 0;
return 0;
} }
int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c)
{
PassCfg_t *PassCfg = &u->PassContext.PassCfg;
PassState_t *state = &u->PassContext.PassState;
up_motor_target_t *target=&u->motor_target ;
LaunchContext_t *LaunchContext = &u->LaunchContext;
Pass_Sequence_Check(u,c);
if(c->pos) //
{
PassCfg ->go_release_pos =
CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->PitchContext.Curve);
}
switch (*state) { //遥控器按键进行状态切换
case PASS_STOP:
break;
case PASS_IDLE:
LaunchContext->LaunchState = Launch_PREPARE;
break;
case PASS_PREPARE:
target->go_pull_speed=PassCfg->go_up_speed;
Pitch_Launch_Sequence(u,LaunchContext,u->motorfeedback.go_data.Pos,PassCfg->go_wait,out);
break;
case PASS_START:
if(LaunchContext->LaunchState == Launch_SHOOT_WAIT){
target->go_pull_speed=PassCfg->go_down_speed;
target->go_shoot = PassCfg->go_release_pos ;
}
break ;
case PASS_POS_PREPARE:
target->Shoot_M2006_angle=LaunchContext->LaunchCfg.m2006_init;//发射
break;
case PASS_COMPLETE:
break;
default:
break;
}
return 0;
}

89
User/Module/up.h
View File

@ -28,26 +28,50 @@
*/ */
/*共用发射，重复部分*/
typedef struct {
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;
fp32 go_pull_pos; // go上升去合并扳机，扳机位置
fp32 go_up_speed;
fp32 go_down_speed;
fp32 Pitch_angle;
} LaunchCfg_t;
typedef enum {
Launch_Stop,
Launch_PREPARE, //
Launch_START, //启动，从指定位置上升，扣动扳机
Launch_TRIGGER, //拉动到指定位置
Launch_SHOOT_WAIT, // 发射等待
Launch_SHOOT,
Launch_DONE,
}LaunchState_t;
typedef struct {
LaunchCfg_t LaunchCfg;
LaunchState_t LaunchState;
} LaunchContext_t;
/* 投球状态定义 */ /* 投球状态定义 */
typedef enum { typedef enum {
PITCH_PREPARE, // 准备阶段 PITCH_PREPARE, // 准备阶段
PITCH_START, //启动，拉扳机 PITCH_START, //启动，拉扳机
PITCH_PULL_TRIGGER,
PITCH_LAUNCHING, // 发射中 PITCH_WAIT, // 发射等待
PITCH_COMPLETE // 完成 PITCH_COMPLETE // 完成
} PitchState_t; } PitchState_t;
/* 投球参数配置 */ /* 投球参数配置 */
typedef struct { typedef struct {
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; //俯仰角度，以oid为准
fp32 pull_speed;//go速度 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 Pitch_angle; //俯仰角度，以oid为准
fp32 go_release_pos;//go松开，发射位置 fp32 go_release_pos;//go松开，发射位置
} PitchCfg_t; } PitchCfg_t;
@ -57,17 +81,32 @@ typedef struct {
PitchCfg_t PitchConfig; PitchCfg_t PitchConfig;
CurveType Curve; //当前函数，雷达距离->pos CurveType Curve; //当前函数，雷达距离->pos
uint8_t is_init ; uint8_t is_init ;
} Pitch_Cfg_t; } PitchContext_t;
/*运球*/ /*传球过程 */
typedef enum { typedef enum {
DRIBBLE_PREPARE, // 准备阶段 PASS_STOP, // 停止状态,未进入传球模式
DRIBBLE_START, PASS_IDLE, // 空闲状态，进入未开始
DRIBBLE_TRANSLATE, // 平移过程 PASS_PREPARE, // 传球准备
DRIBBLE_PROCESS_DOWN, // 运球过程，球下落 PASS_START, // 启动传球,拉动到等球位置
DRIBBLE_PROCESS_UP, // 运球过程，球上升 PASS_POS_PREPARE, // 传球位置准备，对准篮筐，go的位置
DRIBBLE_DONE // 运球结束 PASS_COMPLETE // 发射
} DribbleState_t; } PassState_t;
typedef struct {
fp32 go_wait; // GO等待位置
fp32 go_release_pos; // GO电机发射位置
fp32 Pitch_angle; // 俯仰角度，以oid为准
fp32 go_up_speed; // GO电机上升速度
fp32 go_down_speed; // GO电机下降速度
} PassCfg_t;
typedef struct {
PassState_t PassState;
PassCfg_t PassCfg;
CurveType Curve; //当前函数，雷达距离->pos
uint8_t is_init ;
} PassContext_t;
typedef struct { typedef struct {
@ -91,7 +130,10 @@ typedef struct
pid_param_t Pitch_Angle_M2006_speed_param; pid_param_t Pitch_Angle_M2006_speed_param;
LaunchCfg_t LaunchCfg;
PitchCfg_t PitchCfg; PitchCfg_t PitchCfg;
PassCfg_t PassCfg;
GO_MotorCmd_t go_cmd; GO_MotorCmd_t go_cmd;
}UP_Param_t; }UP_Param_t;
@ -103,7 +145,7 @@ typedef struct{
fp32 Shoot_M2006_angle; fp32 Shoot_M2006_angle;
fp32 go_shoot; fp32 go_shoot;
fp32 go_pull_speed;
fp32 Pitch_angle; //以oid的角度为准,目标俯仰角 fp32 Pitch_angle; //以oid的角度为准,目标俯仰角
}up_motor_target_t; }up_motor_target_t;
@ -129,9 +171,11 @@ typedef struct{
uint8_t up_task_run; uint8_t up_task_run;
const UP_Param_t *param; const UP_Param_t *param;
LaunchContext_t LaunchContext;
/*投篮过程*/ /*投篮过程*/
Pitch_Cfg_t Pitch_Cfg; PitchContext_t PitchContext;
/*传球过程*/
PassContext_t PassContext;
CMD_t *cmd; CMD_t *cmd;
struct{ struct{
@ -184,7 +228,10 @@ int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle); int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_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 DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed);
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out); int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
int8_t Pass_Sequence_Check(UP_t *u,CMD_t *c);
int8_t Pass_Process(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t Pitch_Launch_Sequence(UP_t *u, LaunchContext_t *LaunchContext,fp32 StartPos,fp32 EndPos,CAN_Output_t *out);
#endif #endif

61
User/Module/up_utils.c
View File

@ -1,5 +1,5 @@
#include "up_utils.h" #include "up_utils.h"
#include "up.h"
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle) int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle)
{ {
@ -99,3 +99,62 @@ float CurveChange(float d, float x, float y, CurveType *cs)
} }
} }
int8_t Pass_Sequence_Check(UP_t *u, CMD_t *c) //按键顺序检测，传球，按需求改
{
PassState_t *state = &u->PassContext.PassState;
static enum {
SEQ_IDLE,
SEQ_MID1,
SEQ_UP,
SEQ_MID2,
SEQ_DOWN
} seq = SEQ_IDLE;
switch (seq) {
case SEQ_IDLE:
if (c->CMD_mode == PB_MID) {
seq = SEQ_MID1;
*state = PASS_IDLE;
}
break;
case SEQ_MID1:
if (c->CMD_mode == PB_UP) {
seq = SEQ_UP;
*state = PASS_PREPARE;
} else if (c->CMD_mode != PB_MID) {
seq = SEQ_IDLE;
*state = PASS_STOP;
}
break;
case SEQ_UP:
if (c->CMD_mode == PB_MID) {
seq = SEQ_MID2;
*state = PASS_START;
} else if (c->CMD_mode != PB_UP) {
seq = SEQ_IDLE;
*state = PASS_STOP;
}
break;
case SEQ_MID2:
if (c->CMD_mode == PB_DOWN) {
seq = SEQ_DOWN;
*state = PASS_POS_PREPARE;
} else if (c->CMD_mode != PB_MID) {
seq = SEQ_IDLE;
*state = PASS_STOP;
}
break;
case SEQ_DOWN:
if (c->CMD_mode == PB_MID) {
seq = SEQ_IDLE;
*state = PASS_IDLE; // 或 PASS_COMPLETE，看你需求
} else if (c->CMD_mode != PB_DOWN) {
seq = SEQ_IDLE;
*state = PASS_STOP;
}
break;
}
return 0;
}

8
User/device/cmd.c
View File

@ -164,10 +164,10 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
} }
else if(rc->dr16.sw_l==CMD_SW_DOWN) else if(rc->dr16.sw_l==CMD_SW_DOWN)
{ {
cmd ->CMD_CtrlType =RCcontrol; cmd ->CMD_CtrlType =PASS_BALL;
if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =Normal; //左下，右上，无模式 if(rc->dr16.sw_r ==CMD_SW_UP) cmd ->CMD_mode =PB_UP; //左下，右上，无模式
if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode =Normal; //左下，右中，无模式 if(rc->dr16.sw_r ==CMD_SW_MID) cmd ->CMD_mode = PB_MID; //左下，右中，无模式
if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =Normal; //左下，右上，无模式 if(rc->dr16.sw_r ==CMD_SW_DOWN) cmd ->CMD_mode =PB_DOWN; //左下，右上，无模式
} }

9
User/device/cmd.h
View File

@ -14,6 +14,7 @@
typedef enum{ typedef enum{
RCcontrol,//遥控器控制，左按键上，控制上层 RCcontrol,//遥控器控制，左按键上，控制上层
AUTO, AUTO,
PASS_BALL,//传球模式
RELAXED,//异常模式 RELAXED,//异常模式
}CMD_CtrlType_t; }CMD_CtrlType_t;
@ -29,11 +30,13 @@ typedef enum{
UP_Adjust,//上层调整 UP_Adjust,//上层调整
Chassis_Adjust_Sick, Chassis_Adjust_Sick,
/*传球占三个,逻辑在up.h里，简化就这样写了*/
PassBall, PB_UP,
PB_MID,
PB_DOWN,
Pitch, //投篮,底盘锁定 Pitch,
Dribbl_transfer Dribbl_transfer

5
User/device/nuc.c
View File

@ -62,7 +62,8 @@ int8_t NUC_Restart(void) {
return DEVICE_OK; return DEVICE_OK;
} }
bool_t NUC_WaitDmaCplt(void) { bool_t NUC_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,50) ==
SIGNAL_NUC_RAW_REDY); SIGNAL_NUC_RAW_REDY);
} }
@ -169,7 +170,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
int8_t NUC_HandleOffline(CMD_NUC_t *cmd) int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
{ {
if(cmd == NULL) return DEVICE_ERR_NULL; if(cmd == NULL) return DEVICE_ERR_NULL;
memset(cmd, 0, sizeof(*cmd)); // memset(cmd, 0, sizeof(*cmd));
return 0; return 0;
} }

4
User/device/vofa.c
View File

@ -59,7 +59,7 @@ void vofa_tx_main(float *data)
/*在下面使用对应的串口发送函数*/ /*在下面使用对应的串口发送函数*/
// HAL_UART_Transmit_DMA(&huart6, packet, sizeof(packet)); // HAL_UART_Transmit_DMA(&huart6, packet, sizeof(packet));
// CDC_Transmit_FS( packet, sizeof(packet)); CDC_Transmit_FS( packet, sizeof(packet));
// osDelay(1); osDelay(1);
} }

2
User/task/chassis_task.c
View File

@ -98,7 +98,7 @@ void Task_Chassis(void *argument)
vofa_send[6] = chassis.vofa_send[6]; vofa_send[6] = chassis.vofa_send[6];
vofa_send[7] = chassis.vofa_send[7]; vofa_send[7] = chassis.vofa_send[7];
vofa_tx_main(vofa_send); // vofa_tx_main(vofa_send);
tick += delay_tick; tick += delay_tick;
osDelayUntil(tick); osDelayUntil(tick);

2
User/task/nuc_task.c
View File

@ -36,7 +36,7 @@ void Task_nuc(void *argument){
a++; a++;
NUC_StartReceiving(); NUC_StartReceiving();
NUC_StartSending(NUC_send.send); NUC_StartSending(NUC_send.send);
// NUC_StartSending (send); NUC_StartSending (send);
if (NUC_WaitDmaCplt()){ if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc); NUC_RawParse(&cmd_fromnuc);
} }

7
User/task/up_task.c
View File

@ -91,8 +91,11 @@ void Task_up(void *argument)
osMessageQueuePut(task_runtime.msgq.can.output.shoot5065 ,&UP_CAN_out.chassis5065, 0, 0); osMessageQueuePut(task_runtime.msgq.can.output.shoot5065 ,&UP_CAN_out.chassis5065, 0, 0);
// vofa_send [0]=UP.vofa_send [0]; vofa_send [0]=UP.vofa_send [0];
// vofa_send [1]=UP.vofa_send [1]; vofa_send [1]=UP.vofa_send [1];
vofa_send [2]=UP.vofa_send [2];
vofa_send [3]=UP.vofa_send [3];
vofa_send [4]=UP.vofa_send [4];
vofa_tx_main (vofa_send); vofa_tx_main (vofa_send);
tick += delay_tick; tick += delay_tick;

2
User/task/user_task.h
View File

@ -18,7 +18,7 @@
#define TASK_FREQ_UP (900u) #define TASK_FREQ_UP (900u)
#define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (50u) #define TASK_FREQ_NUC (200u)
#define TASK_FREQ_CAN (1000u) #define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (1000u) #define TASK_FREQ_RC (1000u)