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sick转接，无报错

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This commit is contained in:
ZHAISHUI04 2025-06-13 16:24:49 +08:00
parent 5556d48921
commit afdb0edbc3
16 changed files with 407 additions and 404 deletions
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108
MDK-ARM/.vscode/c_cpp_properties.json vendored
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@ -415,6 +415,114 @@
"__vfp_status(x,y)=0" "__vfp_status(x,y)=0"
], ],
"intelliSenseMode": "${default}" "intelliSenseMode": "${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 "version": 4

8
MDK-ARM/.vscode/keil-assistant.log vendored
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@ -451,3 +451,11 @@
[info] Log at : 2025/3/28|21:46:16|GMT+0800 [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

3
MDK-ARM/.vscode/settings.json vendored
View File

@ -96,6 +96,7 @@
"limits": "c", "limits": "c",
"gimbal_task.h": "c", "gimbal_task.h": "c",
"gimgal.h": "c", "gimgal.h": "c",
"navi.h": "c" "navi.h": "c",
"up.h": "c"
} }
} }

135
MDK-ARM/R2.uvoptx
View File

@ -158,197 +158,102 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText> <ItemText>Nor_Vx</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>LD_raw,0x0A</ItemText> <ItemText>Nor_Vy</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>2</count> <count>2</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText> <ItemText>count,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>3</count> <count>3</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>UP,0x0A</ItemText> <ItemText>count</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>4</count> <count>4</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText> <ItemText>pid</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>5</count> <count>5</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>chassis</ItemText> <ItemText>BMI088_t</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>6</count> <count>6</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nuc_raw,0x0A</ItemText> <ItemText>up,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>7</count> <count>7</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText> <ItemText>low,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>8</count> <count>8</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText> <ItemText>UP,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>9</count> <count>9</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>up_cmd,0x0A</ItemText> <ItemText>send,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>10</count> <count>10</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>can_out</ItemText> <ItemText>cmd,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>11</count> <count>11</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>Nor_Vx</ItemText> <ItemText>rc_ctrl,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>12</count> <count>12</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>Nor_Vy</ItemText> <ItemText>a,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>13</count> <count>13</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>b</ItemText> <ItemText>delay_aa,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>14</count> <count>14</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>count,0x0A</ItemText> <ItemText>aaaaaaaaaaa,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>15</count> <count>15</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>count</ItemText> <ItemText>task_runtime,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>16</count> <count>16</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>raw_rx1,0x0A</ItemText> <ItemText>last_tick,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>17</count> <count>17</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>gyro_kp,0x0A</ItemText> <ItemText>chassis,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>18</count> <count>18</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>nucbuf,0x0A</ItemText> <ItemText>can,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>19</count> <count>19</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>vofa_send,0x0A</ItemText> <ItemText>can_rx,0x0A</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>SendBuffer,0x10</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_StartSending,0x0A</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>PIAN</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>pid</ItemText>
</Ww>
<Ww>
<count>24</count>
<WinNumber>1</WinNumber>
<ItemText>bmi088</ItemText>
</Ww>
<Ww>
<count>25</count>
<WinNumber>1</WinNumber>
<ItemText>ist8310</ItemText>
</Ww>
<Ww>
<count>26</count>
<WinNumber>1</WinNumber>
<ItemText>imu_eulr,0x0A</ItemText>
</Ww>
<Ww>
<count>27</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp,0x0A</ItemText>
</Ww>
<Ww>
<count>28</count>
<WinNumber>1</WinNumber>
<ItemText>htim10,0x0A</ItemText>
</Ww>
<Ww>
<count>29</count>
<WinNumber>1</WinNumber>
<ItemText>pulse</ItemText>
</Ww>
<Ww>
<count>30</count>
<WinNumber>1</WinNumber>
<ItemText>imu_temp</ItemText>
</Ww>
<Ww>
<count>31</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>32</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_send</ItemText>
</Ww>
<Ww>
<count>33</count>
<WinNumber>1</WinNumber>
<ItemText>BMI088_t</ItemText>
</Ww>
<Ww>
<count>34</count>
<WinNumber>1</WinNumber>
<ItemText>bmi088</ItemText>
</Ww>
<Ww>
<count>35</count>
<WinNumber>1</WinNumber>
<ItemText>up,0x0A</ItemText>
</Ww>
<Ww>
<count>36</count>
<WinNumber>1</WinNumber>
<ItemText>low,0x0A</ItemText>
</Ww>
<Ww>
<count>37</count>
<WinNumber>1</WinNumber>
<ItemText>NUC_send</ItemText>
</Ww>
<Ww>
<count>38</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>

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

64
User/Module/Chassis.c
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@ -190,40 +190,48 @@ c->NUC_send .send [1]=1;
/* /*
sick0,左1 sick0,下
sick1,左2 sick1,左2
sick2,下1 sick2,左1
*/ */
//int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) int8_t sick_calibration(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out)
//{ {
//// int32_t x_set; if (c == NULL) return CHASSIS_ERR_NULL;
//// int32_t y_set; if (ctrl == NULL) return CHASSIS_ERR_NULL;
// 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) fp32 sick0 = c->sick_cali.sick_dis[0];
// {//xy修正 fp32 sick1 = c->sick_cali.sick_dis[1];
// c->move_vec .Vx =PID_calc (&(c->pid .chassis_SickVxPID ),c->sick_cali .sick_dis [0], c->sick_cali .sickparam.x_set); fp32 sick2 = c->sick_cali.sick_dis[2];
// c->move_vec .Vy =PID_calc (&(c->pid .chassis_SickVyPID),c->sick_cali .sick_dis [2], c->sick_cali .sickparam.y_set); const sickparam_t *param = &c->sick_cali.sickparam;
// }
// else {//修正OK后，给nuc返回值 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;
}

28
User/Module/config.c
View File

@ -95,13 +95,13 @@ static const ConfigParam_t param ={
/*上层其他参数*/ /*上层其他参数*/
/*运球*/ /*运球*/
.DribbleConfig_Config = { .DribbleCfg = {
.dribble_flag=0, .dribble_flag=0,
.m3508_init_angle = -5, .m3508_init_ang = -5,
.m3508_translate_angle = 1000, .m3508_translate_angle = 1000,
.m3508_dribble_Reverse_speed=-3500, .rev_spd=-1500,
.m3508_dribble_speed= 4000, // 转动速度 .spd= 4000, // 转动速度
.m3508_dribble_init_speed=0, .init_spd=0,
.light_3508_flag=0,//3508平移处的光电，0初始，1到位置 .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 .light_ball_flag=0,//检测球的flag
@ -109,21 +109,17 @@ static const ConfigParam_t param ={
}, },
/*投球*/ /*投球*/
.PitchConfig_Config = { .PitchCfg = {
.m2006_init_angle =-100, .m2006_init =-100, //释放的角度
.m2006_trigger_angle =0, .m2006_trig =0, //可以拉住发射的角度
.go1_init_position = -50, .go_init = -50, //仅用在go上电，初始位置
.go1_Receive_ball = -5, //偏下 .go_pull_pos =-210,
.go1_release_threshold =-210,
.m2006_Screw_init=0,
.Pitch_angle =58, .Pitch_angle =58,
.pull_speed =5, .pull_speed =5,
}, },
}, },
.chassis = {/**/ .chassis = {/**/
@ -172,8 +168,8 @@ static const ConfigParam_t param ={
.out_limit =0.0f, .out_limit =0.0f,
}, },
.sickparam={ .sickparam={
.w_error=1000, .w_error=5000,
.xy_error=1000, .xy_error=5000,
.x_set=1000, .x_set=1000,
.y_set=1000, .y_set=1000,

200
User/Module/up.c
View File

@ -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 // 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 if (!u->DribbleCont .is_init) { //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->DribbleCont .DribbleConfig = u->param ->DribbleCfg ;//赋值
u->DribbleContext .DribbleState = DRIBBLE_PREPARE; u->DribbleCont .DribbleState = DRIBBLE_PREPARE;
u->DribbleContext .is_initialized = 1; u->DribbleCont .is_init = 1;
} }
if (!u->PitchContext .is_initialized) { if (!u->Pitch_Cfg .is_init) {
u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值 u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
u->PitchContext .is_initialized = 1; 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 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; u->cmd =c;
/*光电状态更新*/ /*光电状态更新*/
u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); u->DribbleCont .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_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
return 0; return 0;
@ -168,17 +168,8 @@ int8_t GO_SendData(UP_t *u, float pos, float limit)
static int is_calibration=0; static int is_calibration=0;
static fp32 error=0; //误差量 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() ; 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 // 读取参数
float tff = u->go_cmd.T; // 前馈力矩 float tff = u->go_cmd.T; // 前馈力矩
@ -233,7 +224,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
GO_SendData(u, GO_SendData(u,
u->motor_target .go_shoot, 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++){ 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) int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{ {
if(u ==NULL) return 0; 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; static int is_pitch=1;
/*config值限位*/ /*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 ) switch (c->CMD_CtrlType )
@ -275,53 +271,49 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
case Normal : case Normal :
/*投篮*/ /*投篮*/
if(is_pitch){ if(is_pitch){
u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; target->go_shoot =pitch_cfg->go_init ;
u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; target->Shoot_Pitch_angle=pitch_cfg->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 } //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 ; target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ;
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
/*运球*/ /*运球*/
RELAY1_TOGGLE(0);//关闭气缸 RELAY1_TOGGLE(0);//关闭气缸
for(int i=0;i<3;i++){ 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; target->Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_translate_angle;
u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 u->DribbleCont .DribbleState = DRIBBLE_PREPARE; //重置最初状态
break; break;
case Pitch : case Pitch :
// 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
// }
// Pitch_Process(u,out);
if (u->PitchContext .PitchState ==PITCH_PREPARE)
{ {
u->CoContext .CoState =CoTRANSLATE_OUT; u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮
} }
Co_Process(u,out);
Pitch_Process(u,out);
break ; break ;
case UP_Adjust: //测试用 case UP_Adjust: //测试用
u->PitchContext .PitchConfig .pull_speed=5; pitch_cfg ->pull_speed=5;
u->PitchContext.PitchConfig.go1_Receive_ball += c->Vx ; pitch_cfg ->go_release_pos += c->Vx ;
u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; pitch_cfg->Pitch_angle += c->Vy/100;
u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_Receive_ball; target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos;
u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle;
break ; break ;
case Dribble: case Dribble:
{ {
if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ if(u->DribbleCont.DribbleState== DRIBBLE_PREPARE){
u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN; u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;
} }
//光电状态更新 //光电状态更新
Dribble_Process(u,out); 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) switch(c-> CMD_mode)
{ {
case AUTO_MID360_Pitch: 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*/ /*根据距离实时计算所需pos*/
u->PitchContext .PitchConfig .go1_init_position=c->pos; pitch_cfg ->go_release_pos=c->pos;
if(u->CoContext .CoState == CoPITCH){ // if(u->CoContext .CoState == CoPITCH){
u->CoContext.CoState=CoPITCH_MID360; // u->CoContext.CoState=CoPITCH_MID360;
} // }
Co_Process(u,out); // Co_Process(u,out);
// Pitch_Process(u,out); Pitch_Process(u,out);
break ; break ;
case AUTO_MID360: 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->Pitch_Cfg .PitchState = PITCH_PREPARE;
u->DribbleContext .DribbleState = DRIBBLE_PREPARE; u->DribbleCont .DribbleState = DRIBBLE_PREPARE;
break ; break ;
@ -384,17 +376,21 @@ return 0;
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) 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: 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->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动
u->PitchContext .PitchConfig .pull_speed=10; cfg->pull_speed=10;
u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; 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 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 target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0
u->PitchContext .PitchConfig .pull_speed=6; u->Pitch_Cfg .PitchConfig .pull_speed=6;
u->PitchContext .PitchState=PITCH_PULL_TRIGGER; *state=PITCH_PULL_TRIGGER;
}//更改标志位 }//更改标志位
break ; 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 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; target->go_shoot=cfg->go_release_pos;
if(is_reached (u->motorfeedback .go_data ->Pos ,u->motor_target .go_shoot ,1.0f)) if(is_reached (u->motorfeedback .go_data ->Pos ,target->go_shoot ,1.0f))
{ {
u->PitchContext .PitchState=PITCH_LAUNCHING; *state=PITCH_LAUNCHING;
} }
} }
break ; break ;
case PITCH_LAUNCHING: //等待发射 case PITCH_LAUNCHING: //等待发射
// u->PitchContext .PitchState=PITCH_COMPLETE; // *state=PITCH_COMPLETE;
break ; break ;
case PITCH_COMPLETE: //发射完成 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_flag=0;//是否共速
static int common_speed_reverse_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: 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 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; break;
case DRIBBLE_PROCESS_DOWN: case DRIBBLE_PROCESS_DOWN:
u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; target->Dribble_M3508_speed[0]=DribbleCfg->spd;
u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; target->Dribble_M3508_speed[1]=DribbleCfg->spd;
u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed; target->Dribble_M3508_speed[2]=DribbleCfg->spd;
if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm,
u->motorfeedback .DJmotor_feedback [1].rpm, u->motorfeedback .DJmotor_feedback [1].rpm,
u->motorfeedback .DJmotor_feedback [2].rpm, u->motorfeedback .DJmotor_feedback [2].rpm,
u->motor_target.Dribble_M3508_speed [0], DribbleCfg->spd,
u->motor_target.Dribble_M3508_speed [1], DribbleCfg->spd,
u->motor_target.Dribble_M3508_speed[2], DribbleCfg->spd, 50.0f,50)
50.0f,50)
) { ) {
RELAY1_TOGGLE(1); //速度达到后打开气缸 RELAY1_TOGGLE(1); //速度达到后打开气缸
common_speed_flag =1; common_speed_flag =1;
} }
if(common_speed_flag){ if(common_speed_flag){
if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测，反转 if(u->DribbleCont .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; target->Dribble_M3508_speed[0]=DribbleCfg->rev_spd;
u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; target->Dribble_M3508_speed[1]=DribbleCfg->rev_spd;
u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; target->Dribble_M3508_speed[2]=DribbleCfg->rev_spd;
u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; *DribbleState=DRIBBLE_PROCESS_UP;
} }
@ -492,8 +490,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
} }
if(common_speed_reverse_flag){ if(common_speed_reverse_flag){
if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ if(DribbleCfg->light_ball_flag == 1){
u->DribbleContext .DribbleState=DRIBBLE_DONE; *DribbleState=DRIBBLE_DONE;
RELAY1_TOGGLE(0); //关闭气缸 RELAY1_TOGGLE(0); //关闭气缸
} }
} }
@ -501,12 +499,12 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
case DRIBBLE_DONE: case DRIBBLE_DONE:
common_speed_reverse_flag=0; common_speed_reverse_flag=0;
for(int i=0;i<3;i++){ 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*/ /*标志位清零*/
u->DribbleContext.DribbleConfig.light_ball_flag=0; DribbleCfg->light_ball_flag=0;
u->DribbleContext.DribbleConfig.light_3508_flag=0; DribbleCfg->light_3508_flag=0;
break; break;
@ -531,12 +529,12 @@ int8_t Co_Process(UP_t *u, CAN_Output_t *out)
break ; break ;
case CoTRANSLATE_OUT: 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->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，运球转移状态
u->PitchContext .PitchState = PITCH_START; u->Pitch_Cfg .PitchState = PITCH_START;
u->CoContext .CoState =CoDRIBBLE; 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 Dribble_Process(u,out); //状态停在DRIBBLE_DONE
Pitch_Process(u,out); //状态停在PITCH_LAUNCHING 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 //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[0]=1000;
u->motor_target.Dribble_M3508_speed[1]=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 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[0]=0;
u->motor_target.Dribble_M3508_speed[1]=0; u->motor_target.Dribble_M3508_speed[1]=0;
u->motor_target.Dribble_M3508_speed[2]=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: 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 ;
break ; break ;

167
User/Module/up.h
View File

@ -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 { typedef enum {
CoPREPARE, // 准备阶段 CoPREPARE, // 准备阶段
CoTRANSLATE_OUT,//上方平移,去运球 CoTRANSLATE_OUT,//上方平移,去运球
@ -43,8 +43,8 @@ typedef enum {
typedef struct { typedef struct {
CoState_t CoState; CoState_t CoState;
uint8_t is_initialized ; uint8_t is_init ;
} CoContext_t; } CoCon_t;
@ -62,32 +62,32 @@ typedef enum {
/* 投球参数配置 */ /* 投球参数配置 */
typedef struct { typedef struct {
fp32 m2006_init_angle; // M2006初始角度-140 fp32 m2006_init; // M2006初始角度
fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 fp32 m2006_trig; // 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 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 go1_release_threshold; // go上升去合并扳机，扳机位置 fp32 go_pull_pos; // 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; 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 */ /* 投球控制上下文 */
typedef struct { typedef struct {
PitchState_t PitchState; PitchState_t PitchState;
PitchConfig_t PitchConfig; PitchCfg_t PitchConfig;
uint8_t is_initialized ;
} PitchContext_t;
uint8_t is_init ;
} Pitch_Cfg_t;
/*运球*/ /*运球*/
typedef enum { typedef enum {
@ -103,27 +103,27 @@ typedef enum {
typedef struct { 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 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_translate_angle; // 平移后位置
fp32 m3508_dribble_init_speed; fp32 init_spd;
fp32 m3508_dribble_speed; // 转动速度 fp32 spd; // 转动速度
fp32 m3508_dribble_Reverse_speed; fp32 rev_spd;
/*光电标志位，初始值均为0，触发为1*/ /*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_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 int light_ball_flag;//检测球的flag
} DribbleConfig_t; } DribbleCfg_t;
/* 状态机上下文 */ /* 状态机上下文 */
typedef struct { typedef struct {
DribbleState_t DribbleState; DribbleState_t DribbleState;
DribbleConfig_t DribbleConfig; DribbleCfg_t DribbleConfig;
uint8_t is_initialized; uint8_t is_init;
} DribbleContext_t; } DribbleCont_t;
typedef struct { typedef struct {
@ -154,58 +154,13 @@ typedef struct
pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环 pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环
DribbleConfig_t DribbleConfig_Config; DribbleCfg_t DribbleCfg;
PitchConfig_t PitchConfig_Config; PitchCfg_t PitchCfg;
GO_MotorCmd_t go_cmd; GO_MotorCmd_t go_cmd;
}UP_Param_t; }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{ 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_M1_rpm;
fp32 VESC_5065_M2_rpm; fp32 VESC_5065_M2_rpm;
@ -218,9 +173,9 @@ typedef struct{
fp32 Shoot_Pitch_angle; fp32 Shoot_Pitch_angle;
}motor_target; }up_motor_target_t;
struct{ typedef struct{
pid_type_def VESC_5065_M1; pid_type_def VESC_5065_M1;
@ -240,12 +195,56 @@ typedef struct{
pid_type_def Dribble_translate_M3508_angle;//平移用的角度环 pid_type_def Dribble_translate_M3508_angle;//平移用的角度环
}pid; }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; GO_MotorCmd_t go_cmd;
/*经PID计算后的实际发送给电机的实时输出值*/ /*经PID计算后的实际发送给电机的实时输出值*/
struct struct
{ {
@ -260,8 +259,6 @@ typedef struct{
fp32 vofa_send[8]; fp32 vofa_send[8];
} UP_t; } UP_t;

44
User/device/can_use.c
View File

@ -56,31 +56,20 @@ static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback,
feedback->torque_current = feedback->torque_current =
raw_current * CAN_GM6020_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES; 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) { const uint8_t *raw) {
if (feedback == NULL || raw == NULL) return; if (feedback == NULL || raw == NULL) return;
switch (id) static uint16_t sick_rec[4];
{
case CAN_SICK_ID_1:
feedback->raw_dis[0] = (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]);
case CAN_SICK_ID_2: feedback ->raw_dis [0]= sick_rec[0];
feedback->raw_dis[1] = (uint16_t)(raw[0] << 8| raw[1]); feedback ->raw_dis [1]= sick_rec[1];
feedback ->raw_dis [2]= sick_rec[2];
break ; feedback ->raw_dis [3]= sick_rec[3];
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 ;
}
} }
void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
const uint8_t *raw) { 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); CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data);
detect_hook(CHASSIS3508M1_TOE + index); detect_hook(CHASSIS3508M1_TOE + index);
break; break;
case CAN_SICK_ID_1: case CAN_SICK_ID:
CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_1, can_rx->rx_data); CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data);
break; 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);
break;
default: default:
break; break;
} }

8
User/device/can_use.h
View File

@ -18,10 +18,8 @@ typedef enum {
CAN_UP_M3508_M5_ID = 0x205, /* 1 */ CAN_UP_M3508_M5_ID = 0x205, /* 1 */
CAN_UP_M3508_M6_ID = 0x206, /* 2 */ CAN_UP_M3508_M6_ID = 0x206, /* 2 */
CAN_SICK_ID_1=0x301, CAN_SICK_ID=0x305,
CAN_SICK_ID_2=0x302,
CAN_SICK_ID_3=0x303,
CAN_SICK_ID_4=0x304,
CAN_Encoder_ID=0x01, CAN_Encoder_ID=0x01,
@ -200,6 +198,6 @@ void CAN_Encoder_Control(CAN_t *can);
void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback, void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
const uint8_t *raw) ; 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) ; const uint8_t *raw) ;
#endif #endif

8
User/device/nuc.c
View File

@ -6,7 +6,8 @@ static volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert; static osThreadId_t thread_alert;
uint8_t nucbuf[31]; static uint8_t nucbuf[31];
static char SendBuffer[19];
static void NUC_IdleCallback(void) { static void NUC_IdleCallback(void) {
@ -28,11 +29,8 @@ int8_t NUC_StartReceiving() {
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; return DEVICE_ERR;
} }
char SendBuffer[19];
int8_t NUC_StartSending(fp32 *data) { int8_t NUC_StartSending(fp32 *data) {
union union
{ {
float x[4]; float x[4];
@ -64,7 +62,7 @@ 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,500) == return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,100) ==
SIGNAL_NUC_RAW_REDY); SIGNAL_NUC_RAW_REDY);
} }

1
User/task/can_task.c
View File

@ -47,7 +47,6 @@ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
//一问一答sick数据指令 //一问一答sick数据指令
// CAN_Sick_Control(&can);
CAN_Encoder_Control(&can); CAN_Encoder_Control(&can);
/*can设备数据存入队列*/ /*can设备数据存入队列*/

2
User/task/chassis_task.c
View File

@ -56,6 +56,8 @@ void Task_Chassis(void *argument)
{ {
#ifdef DEBUG #ifdef DEBUG
task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId()); task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId());
task_runtime.freq.chassis=TASK_FREQ_CHASSIS;
task_runtime.last_up_time.chassis=tick;
#endif #endif
/*imu数据获取*/ /*imu数据获取*/

5
User/task/cmd_task.c
View File

@ -30,8 +30,9 @@ void Task_cmd(void *argument){
while(1){ while(1){
#ifdef DEBUG #ifdef DEBUG
/*记录任务所需要的栈空间*/ /*记录任务所需要的栈空间*/
task_runtime.stack_water_mark.cmd = task_runtime.stack_water_mark.cmd =osThreadGetStackSpace(osThreadGetId());
osThreadGetStackSpace(osThreadGetId()); task_runtime.last_up_time.cmd=tick;
task_runtime.freq.cmd=TASK_FREQ_CTRL_CMD;
#endif #endif
osKernelLock(); /*锁住RTOS内核调度*/ osKernelLock(); /*锁住RTOS内核调度*/

10
User/task/nuc_task.c
View File

@ -13,12 +13,12 @@ static CMD_NUC_t cmd_fromnuc;
NUC_send_t NUC_send; NUC_send_t NUC_send;
#endif #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 Task_nuc(void *argument){
(void)argument; /**/ (void)argument; /**/
// osDelay(TASK_INIT_DELAY_NUC); // osDelay(TASK_INIT_DELAY_NUC);
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC; const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC;
NUC_Init(&nuc_raw); NUC_Init(&nuc_raw);
@ -29,9 +29,13 @@ void Task_nuc(void *argument){
{ {
#ifdef DEBUG #ifdef DEBUG
task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
task_runtime .freq.nuc = TASK_FREQ_NUC;
task_runtime.last_up_time.nuc= tick;
#endif #endif
NUC_StartReceiving(); NUC_StartReceiving();
// NUC_StartSending(NUC_send.send); NUC_StartSending(NUC_send.send);
// NUC_StartSending (send);
if (NUC_WaitDmaCplt()){ if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc); NUC_RawParse(&cmd_fromnuc);
} }