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merge into: LYL:Cooperation
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LYL:Cooperation
LYL:chassis
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pull from: LYL:main
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LYL:Cooperation
LYL:chassis
LYL:main

3 Commits
Cooperatio ... main

Author SHA1 Message Date
ZHAISHUI04
8ef2a0a348 雷达增加发送，增加视觉备用，增加go电机限位 2025-06-04 00:25:05 +08:00
ZHAISHUI04
7499e75a50 增加配合，总过程 2025-05-24 14:56:15 +08:00
ZHAISHUI04
79f6f5f9c0 go和nuc串口更换，根据位置自动发go的位置 2025-05-24 14:19:31 +08:00
20 changed files with 526 additions and 228 deletions
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1
Core/Src/main.c
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@ -80,6 +80,7 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init(); HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */

4
Core/Src/usart.c
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@ -46,7 +46,7 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */ /* USER CODE END USART1_Init 1 */
huart1.Instance = USART1; huart1.Instance = USART1;
huart1.Init.BaudRate = 115200; huart1.Init.BaudRate = 4000000;
huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE; huart1.Init.Parity = UART_PARITY_NONE;
@ -104,7 +104,7 @@ void MX_USART6_UART_Init(void)
/* USER CODE END USART6_Init 1 */ /* USER CODE END USART6_Init 1 */
huart6.Instance = USART6; huart6.Instance = USART6;
huart6.Init.BaudRate = 4000000; huart6.Init.BaudRate = 115200;
huart6.Init.WordLength = UART_WORDLENGTH_8B; huart6.Init.WordLength = UART_WORDLENGTH_8B;
huart6.Init.StopBits = UART_STOPBITS_1; huart6.Init.StopBits = UART_STOPBITS_1;
huart6.Init.Parity = UART_PARITY_NONE; huart6.Init.Parity = UART_PARITY_NONE;

75
MDK-ARM/R2.uvoptx
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@ -223,27 +223,92 @@
<Ww> <Ww>
<count>13</count> <count>13</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>a</ItemText> <ItemText>b</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>14</count> <count>14</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>b</ItemText> <ItemText>count,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>15</count> <count>15</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>count,0x0A</ItemText> <ItemText>count</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>16</count> <count>16</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>count</ItemText> <ItemText>raw_rx1,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>17</count> <count>17</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>raw_rx1,0x0A</ItemText> <ItemText>gyro_kp,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>vofa_send,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>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>

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

187
User/Module/Chassis.c
View File

@ -81,13 +81,17 @@ int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
return CHASSIS_OK; 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, 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 fp64 Nor_Vx,Nor_Vy;//归一化后的数据
normalize_vector(Vx,Vy,&Nor_Vx,&Nor_Vy); 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[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[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[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[1] = -Nor_Vx-Nor_Vy+Vw ;//右后
c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw ;//左后 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[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
} }
@ -139,87 +151,57 @@ int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
break; break;
case AUTO : //在自动模式下 case AUTO: // 自动模式
switch (c->chassis_ctrl.mode) {
switch(c->chassis_ctrl.mode ){
case AUTO_NAVI: //自动雷达 case AUTO_MID360: // 自动雷达
// //这套是全向轮的方向,一定要注意这里的xy方向 // 全向轮方向, 注意xy方向
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;
// 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.Vx, 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.Vy,2000.0f); c->NUC_send .send [0]=0;
break;
abs_limit_fp(&c->move_vec.Vw,2000.0f); 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_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;
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;
if(ctrl->status[5] ==1) default:
{ c->move_vec.Vw = 0;
c->move_vec.Vw = c->move_vec.Vw * 0.8f; c->move_vec.Vx = 0;
c->move_vec.Vx = c->move_vec.Vx * 0.5f; c->move_vec.Vy = 0;
c->move_vec.Vy = c->move_vec.Vy * 0.5f; break;
} }
break; // 电机速度限幅
abs_limit_fp(&c->move_vec.Vx, 6000.0f);
case AUTO_PICK: //自动视觉 abs_limit_fp(&c->move_vec.Vy, 6000.0f);
abs_limit_fp(&c->move_vec.Vw, 6000.0f);
c->move_vec.Vx =ctrl->Vx*6000 ;
c->move_vec.Vy =ctrl->Vy *6000;
c->move_vec .Vw = -ctrl->cmd_pick .posx;
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); Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw);
@ -232,17 +214,54 @@ 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[0]=c->pos088.bmi088.gyro.z;
// c->vofa_send[2]=c->pos088.bmi088.gyro.z;
// c->vofa_send[3]=c->pos088.bmi088.accl.x; // c->vofa_send[1]=c->motorfeedback .rotor_rpm3508 [0];
// c->vofa_send[4]=c->pos088.bmi088.accl.y; // c->vofa_send[2]=c->motorfeedback .rotor_rpm3508 [1];
// c->vofa_send[5]=c->pos088.bmi088.accl.z; // 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; 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);
}

1
User/Module/Chassis.h
View File

@ -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); int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out);
fp32 jiuzheng(fp32 yaw);

7
User/Module/config.c
View File

@ -97,7 +97,7 @@ static const ConfigParam_t param ={
/*运球*/ /*运球*/
.DribbleConfig_Config = { .DribbleConfig_Config = {
.dribble_flag=0, .dribble_flag=0,
.m3508_init_angle = 50, .m3508_init_angle = -5,
.m3508_translate_angle = -930, .m3508_translate_angle = -930,
.m3508_dribble_Reverse_speed=-3500, .m3508_dribble_Reverse_speed=-3500,
. m3508_dribble_speed= 4000, // 转动速度 . m3508_dribble_speed= 4000, // 转动速度
@ -110,9 +110,10 @@ static const ConfigParam_t param ={
}, },
/*投球*/ /*投球*/
.PitchConfig_Config = { .PitchConfig_Config = {
.m2006_init_angle =-170, .m2006_init_angle =-90,
.m2006_trigger_angle =0, .m2006_trigger_angle =0,
.go1_init_position = -50, .go1_init_position = -50,
.go1_Receive_ball = -5, //偏下
.go1_release_threshold =-210, .go1_release_threshold =-210,
.m2006_Screw_init=0, .m2006_Screw_init=0,
.Pitch_angle =56, .Pitch_angle =56,

189
User/Module/up.c
View File

@ -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 ; u->go_cmd =u->param ->go_cmd ;
LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f);
// 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->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
@ -93,7 +95,11 @@ 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*/
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; return 0;
} }
@ -254,7 +260,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
static int is_pitch=1; static int is_pitch=1;
switch (c->CMD_CtrlType ) switch (c->CMD_CtrlType )
{ {
case RCcontrol: //在手动模式下 case RCcontrol: //在手动模式下
@ -270,7 +276,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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 ; 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 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
/*运球*/ /*运球*/
@ -279,8 +284,10 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
for(int i=0;i<3;i++){ for(int i=0;i<3;i++){
u->motor_target.Dribble_M3508_speed[i]=0; 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 u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态
break; break;
@ -290,15 +297,20 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
u->PitchContext .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,c); Pitch_Process(u,out);
// if (u->PitchContext .PitchState ==PITCH_PREPARE)
// {
// u->CoContext .CoState =CoTRANSLATE_OUT;
// }
// Co_Process(u,out);
break ; break ;
case UP_Adjust: //测试用 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->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; u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle;
break ; break ;
case Dribble: case Dribble:
@ -308,10 +320,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE; u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE;
} }
//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->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); Dribble_Process(u,out);
}break ; }break ;
@ -320,7 +328,32 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
default: default:
break; break;
} }
case AUTO:
switch(c-> CMD_mode)
{
case AUTO_MID360_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_MID360:
u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
u->PitchContext .PitchState = PITCH_PREPARE;
break ;
}
return 0; return 0;
@ -341,12 +374,14 @@ 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){ switch(u->PitchContext .PitchState){
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 .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; 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 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 +396,21 @@ 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 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
u->PitchContext .PitchState=PITCH_COMPLETE;
break ;
case PITCH_COMPLETE: //发射完成
break ;
} }
@ -385,11 +430,15 @@ return 0;
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) 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
switch (u->DribbleContext.DribbleState) { switch (u->DribbleContext.DribbleState) {
case DRIBBLE_TRANSLATE: 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 u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态
} }
@ -412,13 +461,13 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
common_speed_flag =1; common_speed_flag =1;
} }
if(common_speed_flag){ 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[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[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[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP;
} }
} }
@ -426,18 +475,24 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
break; break;
case DRIBBLE_PROCESS_UP: case DRIBBLE_PROCESS_UP:
if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&& common_speed_flag =0;
(u->motorfeedback .DJmotor_feedback [1].rpm>0)&&
(u->motorfeedback .DJmotor_feedback [2].rpm>0) if((u->motorfeedback .DJmotor_feedback [0].rpm<-500)&&
(u->motorfeedback .DJmotor_feedback [1].rpm<-500)&&
(u->motorfeedback .DJmotor_feedback [2].rpm<-500)
){ ){
common_speed_reverse_flag=1;
if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){
}
if(common_speed_reverse_flag){
if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){
u->DribbleContext .DribbleState=DRIBBLE_DONE; u->DribbleContext .DribbleState=DRIBBLE_DONE;
RELAY1_TOGGLE(0); //关闭气缸 RELAY1_TOGGLE(0); //关闭气缸
} }
} }
break ; break ;
case DRIBBLE_DONE: case DRIBBLE_DONE:
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 u->motor_target.Dribble_M3508_speed[i]=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0
} }
@ -454,5 +509,89 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
} }
return 0; 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 ;
}
}

38
User/Module/up.h
View File

@ -26,16 +26,24 @@
运行函数，switch(状态) 运行相应函数 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_START, //启动，拉扳机
PITCH_PULL_TRIGGER, PITCH_PULL_TRIGGER,
PITCH_LAUNCHING, // 发射中 PITCH_LAUNCHING, // 发射中
PITCH_COMPLETE // 完成 PITCH_COMPLETE // 完成
} PitchState_t; } PitchState_t;
/* 投球参数配置 */ /* 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 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,0,初始位置
fp32 go1_release_threshold; // go上升去合并扳机，扳机位置 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_Screw_init;
fp32 Pitch_angle; fp32 Pitch_angle;
} PitchConfig_t; } PitchConfig_t;
/* 投球控制上下文 */ /* 投球控制上下文 */
@ -108,8 +120,6 @@ typedef struct {
uint8_t is_initialized; uint8_t is_initialized;
} DribbleContext_t; } DribbleContext_t;
@ -164,7 +174,8 @@ typedef struct{
uint8_t up_task_run; uint8_t up_task_run;
const UP_Param_t *param; const UP_Param_t *param;
/*运球过程*/ CoContext_t CoContext;
/*运球过程*/
DribbleContext_t DribbleContext; DribbleContext_t DribbleContext;
/*投篮过程*/ /*投篮过程*/
PitchContext_t PitchContext; 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 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 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 #endif

8
User/bsp/bsp_usart.c
View File

@ -9,9 +9,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
if (huart->Instance == USART3) if (huart->Instance == USART3)
return BSP_UART_REMOTE; return BSP_UART_REMOTE;
else if (huart->Instance == USART1) else if (huart->Instance == USART1)
return BSP_UART_NUC;
else if (huart->Instance == USART6)
return BSP_UART_RS485; return BSP_UART_RS485;
else if (huart->Instance == USART6)
return BSP_UART_NUC;
/* /*
else if (huart->Instance == USARTX) else if (huart->Instance == USARTX)
return BSP_UART_XXX; return BSP_UART_XXX;
@ -95,9 +95,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
case BSP_UART_REMOTE: case BSP_UART_REMOTE:
return &huart3; return &huart3;
case BSP_UART_RS485: case BSP_UART_RS485:
return &huart6;
case BSP_UART_NUC:
return &huart1; return &huart1;
case BSP_UART_NUC:
return &huart6;
/* /*
case BSP_UART_XXX: case BSP_UART_XXX:
return &huartX; return &huartX;

1
User/bsp/bsp_usart.h
View File

@ -13,6 +13,7 @@ typedef enum {
BSP_UART_REMOTE, BSP_UART_REMOTE,
BSP_UART_RS485, BSP_UART_RS485,
BSP_UART_NUC, BSP_UART_NUC,
BSP_UART_VOFA,
/* BSP_UART_XXX, */ /* BSP_UART_XXX, */
BSP_UART_NUM, BSP_UART_NUM,
BSP_UART_ERR, BSP_UART_ERR,

6
User/bsp/pwm.c
View File

@ -19,11 +19,11 @@ int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
return BSP_OK; return BSP_OK;
} }
uint16_t pulse;
int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) { int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
if (duty_cycle < 0.0f) duty_cycle = 0.f; 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 */ /* 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) { switch (ch) {
case BSP_PWM_IMU_HEAT: case BSP_PWM_IMU_HEAT:
@ -38,7 +38,9 @@ int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
break; break;
} }
} else { } else {
// BSP_PWM_Stop(ch); pulse =0;
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse);
//BSP_PWM_Stop(ch);
} }
return BSP_OK; return BSP_OK;
} }

29
User/device/cmd.c
View File

@ -99,15 +99,17 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
switch(cmd->cmd_status){ switch(cmd->cmd_status){
case MID: case MID:
cmd->cmd_MID360.posx = n->navi.vx; cmd->cmd_MID360.posx = n->MID360.vx;
cmd->cmd_MID360.posy = n->navi.vy; cmd->cmd_MID360.posy = n->MID360.vy;
cmd->cmd_MID360.posw = n->navi.wz; cmd->cmd_MID360.posw = n->MID360.wz;
cmd->pos =n->MID360 .pos ;
break; break;
case PICK : case VISION :
cmd ->cmd_pick .posx =n->pick .posx ; cmd ->cmd_pick .posx =n->camera.data1 ;
cmd ->cmd_pick .posy =n->pick .posy ; cmd ->cmd_pick .posy =n->camera.data2 ;
cmd ->cmd_pick .posw =n->pick .posw ; cmd ->cmd_pick .posw =n->camera.data3 ;
break; break;
@ -151,11 +153,11 @@ int8_t CMD_DR16(CMD_t *cmd,const CMD_RC_t *rc) {
{ {
cmd ->CMD_CtrlType =AUTO; 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_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_MID360_Pitch; //左中，右下，视觉
} }
else if(rc->dr16.sw_l==CMD_SW_DOWN) else if(rc->dr16.sw_l==CMD_SW_DOWN)
@ -189,8 +191,12 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
if(cmd ->CMD_CtrlType ==AUTO){ if(cmd ->CMD_CtrlType ==AUTO){
/*自动下的*/ /*自动下的*/
if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =AUTO_NAVI; if (rc->LD.key_C ==CMD_SW_UP) cmd ->CMD_mode =AUTO_MID360_Adjust;
else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_PICK; 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_MID360_Pitch;
else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_MID360;
else cmd ->CMD_mode =Normal ; else cmd ->CMD_mode =Normal ;
} }
@ -202,3 +208,4 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
else cmd ->CMD_mode =Normal; else cmd ->CMD_mode =Normal;
} }
} }

30
User/device/cmd.h
View File

@ -8,7 +8,8 @@
#include <string.h> #include <string.h>
#define MID (0x09) #define MID (0x09)
#define PICK (0x06) #define VISION (0x02)
#define NUC (0x08)
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
@ -22,8 +23,9 @@ typedef enum{
Normal, //无模式 Normal, //无模式
AUTO_NAVI, AUTO_MID360,
AUTO_PICK, AUTO_MID360_Pitch,
AUTO_MID360_Adjust,//雷达调整
UP_Adjust,//上层调整 UP_Adjust,//上层调整
@ -41,17 +43,19 @@ typedef struct {
fp32 vx; fp32 vx;
fp32 vy; fp32 vy;
fp32 wz; fp32 wz;
}navi;
fp32 pos;
fp32 angle;
char flag;
}MID360;
struct struct
{ {
fp32 posx; fp32 data1;
fp32 posy; fp32 data2;
fp32 posw; fp32 data3;
}pick; }camera;//相机
struct
{
fp32 angle;
}sick_cali;
} CMD_NUC_t; } CMD_NUC_t;
/* 拨杆位置 */ /* 拨杆位置 */
typedef enum { typedef enum {
@ -122,6 +126,8 @@ typedef struct {
fp32 key_ctrl_l; fp32 key_ctrl_l;
fp32 key_ctrl_r; fp32 key_ctrl_r;
fp32 pos;//雷达反馈go位置
fp32 Vx; fp32 Vx;
fp32 Vy; fp32 Vy;
fp32 Vw; fp32 Vw;

133
User/device/nuc.c
View File

@ -8,6 +8,7 @@ static osThreadId_t thread_alert;
uint8_t nucbuf[31]; uint8_t nucbuf[31];
static void NUC_IdleCallback(void) { static void NUC_IdleCallback(void) {
osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
detect_hook(NUC_TOE); detect_hook(NUC_TOE);
@ -26,6 +27,36 @@ int8_t NUC_StartReceiving() {
sizeof(nucbuf)) == HAL_OK) sizeof(nucbuf)) == HAL_OK)
return DEVICE_OK; return DEVICE_OK;
return DEVICE_ERR; 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) { int8_t NUC_Restart(void) {
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC)); __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC));
@ -42,8 +73,8 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
if(n ==NULL) return DEVICE_ERR_NULL; if(n ==NULL) return DEVICE_ERR_NULL;
union union
{ {
float x[3]; float x[5];
char data[12]; char data[20];
}instance; }instance;
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘 if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
else{ else{
@ -51,7 +82,35 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
n->ctrl_status =nucbuf[2]; n->ctrl_status =nucbuf[2];
switch (n->status_fromnuc) switch (n->status_fromnuc)
{ {
case MID://控制帧0x09 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 /* 协议格式
0xFF HEAD 0xFF HEAD
0x09 控制帧 0x09 控制帧
@ -61,69 +120,37 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
wz fp32 wz fp32
0xFE TAIL 0xFE TAIL
*/ */
if(nucbuf[15]!=TAIL)goto error; if(nucbuf[24]!=TAIL)goto error;
instance.data[3] = nucbuf[6]; instance.data[3] = nucbuf[6];
instance.data[2] = nucbuf[5]; instance.data[2] = nucbuf[5];
instance.data[1] = nucbuf[4]; instance.data[1] = nucbuf[4];
instance.data[0] = nucbuf[3]; instance.data[0] = nucbuf[3];
n->navi.vx = instance.x[0]; // n->MID360.vx = instance.x[0]; //
instance.data[7] = nucbuf[10]; instance.data[7] = nucbuf[10];
instance.data[6] = nucbuf[9]; instance.data[6] = nucbuf[9];
instance.data[5] = nucbuf[8]; instance.data[5] = nucbuf[8];
instance.data[4] = nucbuf[7]; instance.data[4] = nucbuf[7];
n->navi.vy = instance.x[1];// n->MID360.vy = instance.x[1];//
instance.data[11] = nucbuf[14]; instance.data[11] = nucbuf[14];
instance.data[10] = nucbuf[13]; instance.data[10] = nucbuf[13];
instance.data[9] = nucbuf[12]; instance.data[9] = nucbuf[12];
instance.data[8] = nucbuf[11]; 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->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->MID360.angle = instance.x[4];//
n->MID360.flag = nucbuf[23];//
break; 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; return DEVICE_OK;
} }

3
User/device/nuc.h
View File

@ -23,12 +23,13 @@ typedef struct {
NUC_UpPackageMCU_t to_nuc; //发送的数据协议 NUC_UpPackageMCU_t to_nuc; //发送的数据协议
uint8_t status;//控制状态 uint8_t status;//控制状态
uint8_t pit_status;//pit相机朝向
} NUC_t; } NUC_t;
int8_t NUC_Init(NUC_t *nuc); int8_t NUC_Init(NUC_t *nuc);
int8_t NUC_StartReceiving(void); int8_t NUC_StartReceiving(void);
int8_t NUC_StartSending(fp32 *data) ;
bool_t NUC_WaitDmaCplt(void); bool_t NUC_WaitDmaCplt(void);
int8_t NUC_RawParse(CMD_NUC_t *n); int8_t NUC_RawParse(CMD_NUC_t *n);
int8_t NUC_HandleOffline(CMD_NUC_t *cmd); int8_t NUC_HandleOffline(CMD_NUC_t *cmd);

23
User/device/rc.c
View File

@ -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->ch[3] = 0.5*(raw->ch[3]); //w
raw->map_ch[0]=map_fp32(raw->ch[0],-719,680,-1,1); if (raw->ch[0] < 0)
raw->map_ch[1]=map_fp32(raw->ch[1],-653,746,-1,1); raw->map_ch[0] = map_fp32(raw->ch[0], -696, 2, -1, 0);
raw->map_ch[2]=map_fp32(raw->ch[2],95,1482,0,1); else
raw->map_ch[3]=map_fp32(raw->ch[3],-317,375,-1,1); 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*/ /*非线性映射*/
raw->map_ch[0]=expo_map(raw->map_ch[0],0.7f); raw->map_ch[0]=expo_map(raw->map_ch[0],0.7f);

11
User/device/vofa.c
View File

@ -28,13 +28,14 @@ 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*/
// 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)); // HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata));
// osDelay(1); // osDelay(1);
// HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_VOFA), tail, 4); // HAL_UART_Transmit_DMA(&huart1, tail, 4);
// osDelay(1); // osDelay(1);
CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata));
osDelay(1);
// CDC_Transmit_FS( tail, 4);
} }

3
User/task/nuc_task.c
View File

@ -11,7 +11,7 @@ static CMD_NUC_t cmd_fromnuc;
#endif #endif
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; /**/
@ -29,6 +29,7 @@ void Task_nuc(void *argument){
task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId()); task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
#endif #endif
NUC_StartReceiving(); NUC_StartReceiving();
// NUC_StartSending(NUC_send.send);
if (NUC_WaitDmaCplt()){ if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc); NUC_RawParse(&cmd_fromnuc);
} }

5
User/task/up_task.c
View File

@ -70,7 +70,6 @@ void Task_up(void *argument)
ALL_Motor_Control(&UP,&UP_CAN_out); ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1); osDelay(1);
/*can上设备数据获取*/ /*can上设备数据获取*/
osMessageQueueGet(task_runtime.msgq.can.feedback.UP_CAN_feedback, &can, NULL, 0); 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); 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_tx_main (vofa_send); vofa_tx_main (vofa_send);
tick += delay_tick; tick += delay_tick;