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] =?UTF-8?q?=E6=94=B9=E8=A7=86=E8=A7=89=E5=A4=87=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 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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); }