LYL/R2_NEW
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merge into: LYL:main
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LYL:main
LYL:Cooperation
LYL:chassis
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pull from: LYL:Cooperation
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LYL:Cooperation
LYL:chassis
LYL:main

9 Commits
main ... Cooperatio

Author SHA1 Message Date
ZHAISHUI04
afdb0edbc3 sick转接，无报错 2025-06-13 16:24:49 +08:00
ZHAISHUI04
5556d48921 总过程 2025-06-05 16:47:27 +08:00
ZHAISHUI04
9567222df6 改视觉备用 2025-06-03 23:16:33 +08:00
ZHAISHUI04
bcfaac985f 给go加位置限位 2025-06-02 22:01:25 +08:00
ZHAISHUI04
4c8a3945c4 修复一点bug，编码器重新校准 2025-05-31 15:26:23 +08:00
ZHAISHUI04
9fe37c6b89 oid编码器更换，更改can_use处 2025-05-29 19:37:09 +08:00
ZHAISHUI04
553de3fa5e 给nuc发数据 2025-05-28 20:58:14 +08:00
ZHAISHUI04
8ffef38518 go和nuc串口更换，根据位置自动发go的位置 2025-05-24 14:10:05 +08:00
ZHAISHUI04
b2efd7c822 整体配合 2025-05-16 19:34:06 +08:00
32 changed files with 999 additions and 612 deletions
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1
Core/Src/main.c
View File

@ -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 */

4
Core/Src/usart.c
View File

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

108
MDK-ARM/.vscode/c_cpp_properties.json vendored
View File

@ -415,6 +415,114 @@
"__vfp_status(x,y)=0"
],
"intelliSenseMode": "${default}"
},
{
"name": "R2",
"includePath": [
"d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Inc",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Include",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User\\bsp",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User\\device",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User\\task",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Algorithm",
"d:\\Desktop\\r2\\R2_NEW\\R2\\User\\Module",
"d:\\Desktop\\r2\\R2_NEW\\R2\\MDK-ARM",
"d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\App",
"d:\\Desktop\\r2\\R2_NEW\\R2\\USB_DEVICE\\Target",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Inc",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Inc",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\CMSIS\\Lib\\ARM",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Core\\Src",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Drivers\\STM32F4xx_HAL_Driver\\Src",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Core\\Src",
"d:\\Desktop\\r2\\R2_NEW\\R2\\Middlewares\\ST\\STM32_USB_Device_Library\\Class\\CDC\\Src"
],
"defines": [
"USE_HAL_DRIVER",
"STM32F407xx",
"__CC_ARM",
"__arm__",
"__align(x)=",
"__ALIGNOF__(x)=",
"__alignof__(x)=",
"__asm(x)=",
"__forceinline=",
"__restrict=",
"__global_reg(n)=",
"__inline=",
"__int64=long long",
"__INTADDR__(expr)=0",
"__irq=",
"__packed=",
"__pure=",
"__smc(n)=",
"__svc(n)=",
"__svc_indirect(n)=",
"__svc_indirect_r7(n)=",
"__value_in_regs=",
"__weak=",
"__writeonly=",
"__declspec(x)=",
"__attribute__(x)=",
"__nonnull__(x)=",
"__register=",
"__breakpoint(x)=",
"__cdp(x,y,z)=",
"__clrex()=",
"__clz(x)=0U",
"__current_pc()=0U",
"__current_sp()=0U",
"__disable_fiq()=",
"__disable_irq()=",
"__dmb(x)=",
"__dsb(x)=",
"__enable_fiq()=",
"__enable_irq()=",
"__fabs(x)=0.0",
"__fabsf(x)=0.0f",
"__force_loads()=",
"__force_stores()=",
"__isb(x)=",
"__ldrex(x)=0U",
"__ldrexd(x)=0U",
"__ldrt(x)=0U",
"__memory_changed()=",
"__nop()=",
"__pld(...)=",
"__pli(...)=",
"__qadd(x,y)=0",
"__qdbl(x)=0",
"__qsub(x,y)=0",
"__rbit(x)=0U",
"__rev(x)=0U",
"__return_address()=0U",
"__ror(x,y)=0U",
"__schedule_barrier()=",
"__semihost(x,y)=0",
"__sev()=",
"__sqrt(x)=0.0",
"__sqrtf(x)=0.0f",
"__ssat(x,y)=0",
"__strex(x,y)=0U",
"__strexd(x,y)=0",
"__strt(x,y)=",
"__swp(x,y)=0U",
"__usat(x,y)=0U",
"__wfe()=",
"__wfi()=",
"__yield()=",
"__vfp_status(x,y)=0"
],
"intelliSenseMode": "${default}"
}
],
"version": 4

8
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -451,3 +451,11 @@
[info] Log at : 2025/3/28|21:46:16|GMT+0800
[info] Log at : 2025/6/6|21:51:18|GMT+0800
[info] Log at : 2025/6/7|17:45:08|GMT+0800
[info] Log at : 2025/6/7|21:03:23|GMT+0800
[info] Log at : 2025/6/12|16:54:50|GMT+0800

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

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

52
MDK-ARM/R2.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel>
<nTsel>3</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
<Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -158,92 +158,102 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>rc_ctrl,0x0A</ItemText>
<ItemText>Nor_Vx</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>LD_raw,0x0A</ItemText>
<ItemText>Nor_Vy</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
<ItemText>count,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>UP,0x0A</ItemText>
<ItemText>count</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_rc,0x0A</ItemText>
<ItemText>pid</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>chassis</ItemText>
<ItemText>BMI088_t</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_raw,0x0A</ItemText>
<ItemText>up,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
<ItemText>low,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cmd_fromnuc</ItemText>
<ItemText>UP,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>up_cmd,0x0A</ItemText>
<ItemText>send,0x0A</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>can_out</ItemText>
<ItemText>cmd,0x0A</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>Nor_Vx</ItemText>
<ItemText>rc_ctrl,0x0A</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>Nor_Vy</ItemText>
<ItemText>a,0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>a</ItemText>
<ItemText>delay_aa,0x0A</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>b</ItemText>
<ItemText>aaaaaaaaaaa,0x0A</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>count,0x0A</ItemText>
<ItemText>task_runtime,0x0A</ItemText>
</Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>count</ItemText>
<ItemText>last_tick,0x0A</ItemText>
</Ww>
<Ww>
<count>17</count>
<WinNumber>1</WinNumber>
<ItemText>raw_rx1,0x0A</ItemText>
<ItemText>chassis,0x0A</ItemText>
</Ww>
<Ww>
<count>18</count>
<WinNumber>1</WinNumber>
<ItemText>can,0x0A</ItemText>
</Ww>
<Ww>
<count>19</count>
<WinNumber>1</WinNumber>
<ItemText>can_rx,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>

BIN
MDK-ARM/R2/R2.axf
View File

Binary file not shown.

16
User/Algorithm/user_math.c
View File

@ -216,7 +216,21 @@ void abs_limit_fp(fp32 *num, fp32 Limit)
*num = -Limit;
}
}
//改原始值，限制最大最小
fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max)
{
if (*num > Limit_max)
{
*num=Limit_max;
return Limit_max;
}
else if (*num < Limit_min)
{
*num=Limit_min;
return Limit_min;
}
}
/* 移动向量 */
MoveVector_t *mv;

1
User/Algorithm/user_math.h
View File

@ -164,5 +164,6 @@ int read_flag_state(uint8_t flag) ;
void normalize_vector(double x, double y, double *out_x, double *out_y) ;
bool is_reached(float current, float target, float mistake) ;
bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold) ;
fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max);
#endif

440
User/Module/Chassis.c
View File

@ -4,243 +4,233 @@
#include "bsp_buzzer.h"
#include "bsp_delay.h"
/*
机器人坐标系，向前x，右y，上yaw
不同于nuc (前x，左y，上yaw)
x
|
--y
*/
static int8_t Chassis_SetCtrl(Chassis_t *c, CMD_t *ctrl) {
if (c == NULL) return CHASSIS_ERR_NULL;
if (ctrl->CMD_CtrlType == c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode)
return CHASSIS_OK;
c->chassis_ctrl.ctrl = ctrl->CMD_CtrlType;
c->chassis_ctrl.mode = ctrl->CMD_mode;
return CHASSIS_OK;
}
int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
if (c == NULL) return CHASSIS_ERR_NULL;
if (can == NULL) return CHASSIS_ERR_NULL;
for (uint8_t i = 0; i < 4; i++) {
c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
}
return CHASSIS_OK;
}
int8_t Chassis_init(Chassis_t *c, const Chassis_Param_t *param, float target_freq) {
if (c == NULL) return CHASSIS_ERR_NULL;
c->param = param;
for (int i = 0; i < 4; i++) {
PID_init(&(c->pid.chassis_3508VecPID[i]), PID_POSITION_D, &(c->param->M3508_param));
}
PID_init(&(c->pid.chassis_PICKWzPID_HIGN), PID_POSITION, &(c->param->chassis_PICKWzPID_HIGN_param));
PID_init(&(c->pid.chassis_PICKWzPID_LOW), PID_POSITION, &(c->param->chassis_PICKWzPID_LOW_param));
PID_init(&(c->pid.sick_CaliforYPID), PID_POSITION, &(c->param->Sick_CaliYparam));
PID_init(&(c->pid.sick_CaliforXPID), PID_POSITION, &(c->param->Sick_CaliXparam));
LowPassFilter2p_Init(&(c->filled[0]), target_freq, 80.0f); // 角加速度滤波
LowPassFilter2p_Init(&(c->filled[1]), target_freq, 80.0f); // w滤波
LowPassFilter2p_Init(&(c->filled[2]), target_freq, 80.0f); // y滤波
LowPassFilter2p_Init(&(c->filled[3]), target_freq, 80.0f); // x滤波
c->sick_cali .sickparam=c->param ->sickparam ;
return CHASSIS_OK;
}
fp32 gyro_kp = 1.0f;
fp32 PIAN = 0;
void Chassis_speed_calculate(Chassis_t *c, fp32 Vx, fp32 Vy, fp32 Vw) {
fp64 Nor_Vx, Nor_Vy;
normalize_vector(Vx, Vy, &Nor_Vx, &Nor_Vy);
c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx + Nor_Vy + Vw; // 右前
c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx - Nor_Vy + Vw; // 右后
c->hopemotorout.OmniSpeedOut[2] = Nor_Vx - Nor_Vy + Vw; // 左后
c->hopemotorout.OmniSpeedOut[3] = Nor_Vx + Nor_Vy + Vw; // 左前
}
float aaaaa=0;
int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
if (c == NULL) return CHASSIS_ERR_NULL;
if (ctrl == NULL) return CHASSIS_ERR_NULL;
Chassis_SetCtrl(c, ctrl);
// IMU加滤波修正
c->pos088.bmi088.filtered_gyro.z = LowPassFilter2p_Apply(&(c->filled[0]), c->pos088.bmi088.gyro.z);
switch (c->chassis_ctrl.ctrl) {
case RCcontrol: // 手动控制
/*
在cmd里对数据进行处理 包括方向和油门
6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同
*/
c->NUC_send .send [0]=0;
c->NUC_send .send [1]=0;
c->NUC_send .send [2]=10;
c->NUC_send .send [3]=100;
switch (c->chassis_ctrl.mode) {
case Normal:
if(ctrl->Vw){
c->move_vec.Vw = ctrl->Vw * 6000;
c->move_vec.Vx = ctrl->Vy * 6000;
c->move_vec.Vy = ctrl->Vx * 6000;
}
else
{
c->move_vec.Vw = ctrl->Vw * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa;
c->move_vec.Vx = ctrl->Vy * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa ;
c->move_vec.Vy = ctrl->Vx * 6000 + c->pos088 .bmi088 .gyro .z * aaaaa ;
}
break;
case Pitch:
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
break;
case UP_Adjust:
c->move_vec.Vw = ctrl->Vw * 6000;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
break;
default:
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
break;
}
break;
case AUTO: // 自动模式
switch (c->chassis_ctrl.mode) {
case AUTO_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;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
abs_limit_fp(&c->move_vec.Vx, 5000.0f);
abs_limit_fp(&c->move_vec.Vy, 5000.0f);
abs_limit_fp(&c->move_vec.Vw, 5000.0f);
c->NUC_send .send [0]=0;
break;
case AUTO_MID360_Pitch:
c->move_vec.Vw = 0;
c->move_vec.Vy = 0;
c->move_vec.Vx = 0;
c->NUC_send .send [0]=0;
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;
default:
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
break;
}
// 电机速度限幅
abs_limit_fp(&c->move_vec.Vx, 6000.0f);
abs_limit_fp(&c->move_vec.Vy, 6000.0f);
abs_limit_fp(&c->move_vec.Vw, 6000.0f);
Chassis_speed_calculate(c, c->move_vec.Vx, c->move_vec.Vy, c->move_vec.Vw);
for (uint8_t i = 0; i < 4; i++) {
c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),
c->motorfeedback.rotor_rpm3508[i],
c->hopemotorout.OmniSpeedOut[i]);
out->motor_CHASSIS3508.as_array[i] = c->final_out.final_3508out[i];
}
c->NUC_send .send [1]=1;
return CHASSIS_OK;
}
/*机器人坐标系，向前x，右y，上yaw
不同于nuc (前x，左y，上yaw) */
/*
x
|
--y
/*
sick0,下
sick1,左2
sick2,左1
*/
static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
if (c == NULL) return CHASSIS_ERR_NULL; /*主结构体不能为空 */
if (ctrl->CMD_CtrlType== c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) return CHASSIS_OK; /*模式未改变直接返回*/
c->chassis_ctrl.ctrl =ctrl->CMD_CtrlType ;
c->chassis_ctrl.mode =ctrl->CMD_mode ;
return CHASSIS_OK;
} //设置控制模式
/*该函数用来更新can任务获得的电机反馈值*/
int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
if (c == NULL) return CHASSIS_ERR_NULL;
if (can == NULL) return CHASSIS_ERR_NULL;
for (uint8_t i = 0; i < 4; i++)
{
c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
}
return CHASSIS_OK;
}
int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
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;
c->param = param; /*初始化参数 */
for(int i =0 ; i < 4 ; i++)
{
PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param)); //带D项滤波
}
fp32 sick0 = c->sick_cali.sick_dis[0];
fp32 sick1 = c->sick_cali.sick_dis[1];
fp32 sick2 = c->sick_cali.sick_dis[2];
const sickparam_t *param = &c->sick_cali.sickparam;
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));
fp32 diff = fabsf(sick0 - sick1);
PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam));
PID_init(&(c->pid.sick_CaliforXPID),PID_POSITION,&(c->param->Sick_CaliXparam));
LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给角加速度做滤波
LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给y做滤波
LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波
//
return CHASSIS_OK;
}
void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw) //底盘逆运动学的解算,
{
fp64 Nor_Vx,Nor_Vy;//归一化后的数据
normalize_vector(Vx,Vy,&Nor_Vx,&Nor_Vy);
// c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右前
// c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//右后
// c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左后
// c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw + c->pos088 .bmi088.gyro.z;//左前
c->hopemotorout.OmniSpeedOut[0] = -Nor_Vx+Nor_Vy+Vw ;//右前
c->hopemotorout.OmniSpeedOut[1] = -Nor_Vx-Nor_Vy+Vw ;//右后
c->hopemotorout.OmniSpeedOut[2] = Nor_Vx-Nor_Vy+Vw ;//左后
c->hopemotorout.OmniSpeedOut[3] = Nor_Vx+Nor_Vy+Vw ;//左前
}
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
{
if(c ==NULL) return CHASSIS_ERR_NULL;
if(ctrl ==NULL) return CHASSIS_ERR_NULL;
Chassis_SetCtrl(c,ctrl);
//此处对imu加滤波做修正
c->pos088.bmi088.filtered_gyro.z =LowPassFilter2p_Apply(&(c->filled[0]),c->pos088.bmi088.gyro.z);
switch (c->chassis_ctrl .ctrl)
{
case RCcontrol: //手动控制
/*
在cmd里对数据进行处理 包括方向和油门
6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同*/
if(c->chassis_ctrl .mode == Pitch){
c->move_vec.Vw = 0;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
}
else if(c->chassis_ctrl .mode == UP_Adjust)
{
c->move_vec.Vw = ctrl->Vw*6000;
c->move_vec.Vx = 0;
c->move_vec.Vy = 0;
}
else {
c->move_vec.Vw = ctrl->Vw*6000;
c->move_vec.Vx = ctrl->Vy*6000;
c->move_vec.Vy = ctrl->Vx*6000;
}
break;
case AUTO : //在自动模式下
switch(c->chassis_ctrl.mode ){
case AUTO_NAVI: //自动雷达
// //这套是全向轮的方向,一定要注意这里的xy方向
c->move_vec.Vw =ctrl->cmd_MID360 .posw *1000 ;
c->move_vec.Vy =-ctrl->cmd_MID360.posy *1000 ;
c->move_vec.Vx =-ctrl->cmd_MID360.posx *1000 ;
// c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
// c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
// c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
//
// c->move_vec.Vw =PID_calc(&(c->pid.chassis_NaviWzPID),c->pos088.bmi088.gyro.z,c->move_vec.Vw);
// c->move_vec.Vx =PID_calc(&(c->pid.chassis_NaviVxPID),c->pos088.bmi088.accl.y,c->move_vec.Vx);
// c->move_vec.Vy =PID_calc(&(c->pid.chassis_NaviVyPID),c->pos088.bmi088.accl.x,c->move_vec.Vy);
// //电机速度限幅
abs_limit_fp(&c->move_vec.Vx,2000.0f);
abs_limit_fp(&c->move_vec.Vy,2000.0f);
abs_limit_fp(&c->move_vec.Vw,2000.0f);
if(ctrl->status[5] ==1)
{
c->move_vec.Vw = c->move_vec.Vw * 0.8f;
c->move_vec.Vx = c->move_vec.Vx * 0.5f;
c->move_vec.Vy = c->move_vec.Vy * 0.5f;
}
break;
case AUTO_PICK: //自动视觉
c->move_vec.Vx =ctrl->Vx*6000 ;
c->move_vec.Vy =ctrl->Vy *6000;
c->move_vec .Vw = -ctrl->cmd_pick .posx;
if(abs_value(ctrl ->cmd_pick .posx )>20)
{
c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0);
}
else if(abs_value(ctrl ->cmd_pick .posx )<0.1)
{
c->move_vec.Vw =0;
}
else
c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0);
c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
c->vofa_send[0]=c->move_vec.Vw;
c->vofa_send[1]=-ctrl->cmd_pick .posx;
break ;
}
break ;
}
//电机速度限幅
abs_limit_fp(&c->move_vec.Vx,6000.0f);
abs_limit_fp(&c->move_vec.Vy,6000.0f);
abs_limit_fp(&c->move_vec.Vw,6000.0f);
Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw);
for (uint8_t i = 0 ; i <4 ; i++)
{
c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),c->motorfeedback.rotor_rpm3508[i],c->hopemotorout.OmniSpeedOut[i]);
out->motor_CHASSIS3508 .as_array[i] = c->final_out.final_3508out[i];
}
// c->vofa_send[0]=c->pos088.bmi088.gyro.x;
// c->vofa_send[1]=c->pos088.bmi088.gyro.y;
// c->vofa_send[2]=c->pos088.bmi088.gyro.z;
// c->vofa_send[3]=c->pos088.bmi088.accl.x;
// c->vofa_send[4]=c->pos088.bmi088.accl.y;
// c->vofa_send[5]=c->pos088.bmi088.accl.z;
return CHASSIS_OK;
// 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;
}

30
User/Module/Chassis.h
View File

@ -58,7 +58,12 @@ typedef struct {
AHRS_Eulr_t imu_eulr;//解算后存放欧拉角（弧度制）
}ChassisImu_t;
typedef struct {
int32_t w_error;//角度纠正时的允许误差量
int32_t xy_error;//xy允许误差量
int32_t x_set;
int32_t y_set;
}sickparam_t;
/* 该结构体用于存取固定的一些参数 在config.c中更改后不再变化 */
typedef struct
@ -74,10 +79,13 @@ typedef struct
pid_param_t NaviVx_param;
pid_param_t NaviVy_param;
pid_param_t NaviVw_param;
pid_param_t Sick_CaliWparam;
pid_param_t Sick_CaliYparam;
pid_param_t Sick_CaliXparam;
sickparam_t sickparam;
}Chassis_Param_t;
@ -90,7 +98,11 @@ typedef struct
fp32 Vw;
fp32 mul;//油门倍率
}ChassisMove_Vec;
typedef struct
{
fp32 send[4];
}NUC_send_t;
/**
* @brief
@ -144,9 +156,9 @@ typedef struct{
pid_type_def chassis_NaviWzPID;
pid_type_def chassis_NaviVxPID;
pid_type_def chassis_NaviVyPID;
pid_type_def chassis_SickWzPID;
pid_type_def chassis_SickVxPID;
pid_type_def chassis_SickVyPID;
pid_type_def sick_CaliforYPID;
pid_type_def sick_CaliforXPID;
@ -157,9 +169,12 @@ typedef struct{
LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
struct {
int32_t sick_dis[3]; //获取到的sick激光值
sickparam_t sickparam;
}sick_cali;
int32_t sick_dis[4]; //获取到的sick激光值
NUC_send_t NUC_send;
}Chassis_t;
@ -190,6 +205,7 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can);
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out);
fp32 jiuzheng(fp32 yaw);

67
User/Module/config.c
View File

@ -95,13 +95,13 @@ static const ConfigParam_t param ={
/*上层其他参数*/
/*运球*/
.DribbleConfig_Config = {
.DribbleCfg = {
.dribble_flag=0,
.m3508_init_angle = 50,
.m3508_translate_angle = -930,
.m3508_dribble_Reverse_speed=-3500,
. m3508_dribble_speed= 4000, // 转动速度
.m3508_dribble_init_speed=0,
.m3508_init_ang = -5,
.m3508_translate_angle = 1000,
.rev_spd=-1500,
.spd= 4000, // 转动速度
.init_spd=0,
.light_3508_flag=0,//3508平移处的光电，0初始，1到位置
.light_ball_flag=0,//检测球的flag
@ -109,20 +109,21 @@ static const ConfigParam_t param ={
},
/*投球*/
.PitchConfig_Config = {
.m2006_init_angle =-170,
.m2006_trigger_angle =0,
.go1_init_position = -50,
.go1_release_threshold =-210,
.m2006_Screw_init=0,
.Pitch_angle =56,
.PitchCfg = {
.m2006_init =-100, //释放的角度
.m2006_trig =0, //可以拉住发射的角度
.go_init = -50, //仅用在go上电，初始位置
.go_pull_pos =-210,
.Pitch_angle =58,
.pull_speed =5,
},
},
.chassis = {/**/
.M3508_param = {
.p = 15.1f,
.i = 0.02f,
@ -131,21 +132,49 @@ static const ConfigParam_t param ={
.out_limit =6000.0f,
},
/*视觉*/
.chassis_PICKWzPID_HIGN_param ={ //高响应
.chassis_PICKWzPID_HIGN_param ={
.p = 1.0f,
.i = 0.03f,
.d = 0.03f,
.i_limit = 100.0f,
.out_limit =2000.0f,
},
.chassis_PICKWzPID_LOW_param ={ //高精度
.chassis_PICKWzPID_LOW_param ={
.p = 0.5f, //1.0 0.5
.i = 0.5f, //0.01 0.04
.d = 0.0f, //0.02 0.02
.i_limit = 50.0f,
.out_limit =1000.0f,
},
.Sick_CaliWparam ={
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit =0.0f,
},
.Sick_CaliYparam ={
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit =0.0f,
},
.Sick_CaliXparam ={
.p = 0.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit =0.0f,
},
.sickparam={
.w_error=5000,
.xy_error=5000,
.x_set=1000,
.y_set=1000,
},
},

332
User/Module/up.c
View File

@ -49,19 +49,21 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
}
u->go_cmd =u->param ->go_cmd ;
LowPassFilter2p_Init(&(u->filled[0]),target_freq,100.0f);
// 初始化上层状态机
if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
u->DribbleContext .DribbleState = DRIBBLE_PREPARE;
u->DribbleContext .is_initialized = 1;
if (!u->DribbleCont .is_init) { //检查是否为第一次运行状态机，运球
u->DribbleCont .DribbleConfig = u->param ->DribbleCfg ;//赋值
u->DribbleCont .DribbleState = DRIBBLE_PREPARE;
u->DribbleCont .is_init = 1;
}
if (!u->PitchContext .is_initialized) {
u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
u->PitchContext .is_initialized = 1;
if (!u->Pitch_Cfg .is_init) {
u->Pitch_Cfg .PitchConfig = u->param ->PitchCfg ;//赋值
u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
u->Pitch_Cfg .is_init = 1;
}
BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层
@ -93,7 +95,11 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
}
u->cmd =c;
/*光电状态更新*/
u->DribbleCont .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin);
u->DribbleCont .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
return 0;
}
@ -162,17 +168,8 @@ int8_t GO_SendData(UP_t *u, float pos, float limit)
static int is_calibration=0;
static fp32 error=0; //误差量
// GO_MotorData_t *GO_calibration;//校准前，原始数据
u->motorfeedback .go_data = get_GO_measure_point() ;
// if(is_calibration==0)
// {
// is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 );
// u->go_cmd.Pos = -50; //上电之后跑
// error= GO_calibration->Pos ;
// }
// u->motorfeedback .go_data = GO_calibration;
// u->motorfeedback .go_data ->Pos= error ;
// u->go_cmd.Pos = pos;
// 读取参数
float tff = u->go_cmd.T; // 前馈力矩
@ -208,7 +205,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
DJ_Speed_Control(u,0x201,&u->motorfeedback .DJmotor_feedback[0] ,&u->pid .Dribble_M3508_speed[0],u->motor_target .Dribble_M3508_speed[0]);
DJ_Speed_Control(u,0x202,&u->motorfeedback .DJmotor_feedback[1] ,&u->pid .Dribble_M3508_speed[1],u->motor_target .Dribble_M3508_speed[1]);
DJ_Speed_Control(u,0x203,&u->motorfeedback .DJmotor_feedback[2] ,&u->pid .Dribble_M3508_speed[2],u->motor_target .Dribble_M3508_speed[2]);
DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] ,
DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] ,
&u->pid .Dribble_translate_M3508_angle ,
&u->pid .Dribble_translate_M3508_speed ,
u->motor_target .Dribble_translate_M3508_angle );
@ -224,8 +221,10 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
(PID_calc (&(u->pid .Pitch_M2006_angle ),
u->motorfeedback .Encoder.angle,u->motor_target .Shoot_Pitch_angle))
);
GO_SendData(u,u->motor_target .go_shoot,5 );
GO_SendData(u,
u->motor_target .go_shoot,
u->Pitch_Cfg .PitchConfig .pull_speed );//对应的拉动速度
for(int i=0;i<4;i++){
@ -243,75 +242,80 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
}
int a=0;
int b=0;
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{
if(u ==NULL) return 0;
if(out ==NULL) return 0;
if(c ==NULL) return 0;
/*指针简化*/
PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig;
DribbleCfg_t *DribbleCont = &u->DribbleCont.DribbleConfig;
up_motor_target_t *target=&u->motor_target ;
static int is_pitch=1;
/*config值限位*/
abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-208.0f,2.0f);
switch (c->CMD_CtrlType )
{
case RCcontrol: //在手动模式下
switch (c-> CMD_mode )
{
case Normal :
/*投篮*/
if(is_pitch){
u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle;
target->go_shoot =pitch_cfg->go_init ;
target->Shoot_Pitch_angle=pitch_cfg->Pitch_angle;
is_pitch=0;
} //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删
u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
u->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
target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ;
u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
/*运球*/
RELAY1_TOGGLE(0);//关闭气缸
for(int i=0;i<3;i++){
u->motor_target.Dribble_M3508_speed[i]=0;
target->Dribble_M3508_speed[i]=0;
}
u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle;
u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态
target->Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_translate_angle;
u->DribbleCont .DribbleState = DRIBBLE_PREPARE; //重置最初状态
break;
case Pitch :
if (u->PitchContext .PitchState ==PITCH_PREPARE)
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
}
Pitch_Process(u,out,c);
Pitch_Process(u,out);
break ;
case UP_Adjust: //测试用
u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100;
pitch_cfg ->pull_speed=5;
pitch_cfg ->go_release_pos += c->Vx ;
pitch_cfg->Pitch_angle += c->Vy/100;
u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle;
target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos;
target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle;
break ;
case Dribble:
{
if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){
u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE;
if(u->DribbleCont.DribbleState== DRIBBLE_PREPARE){
u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;
}
//光电状态更新
u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin);
u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
a=HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin);
b=HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
Dribble_Process(u,out);
}break ;
@ -320,7 +324,37 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
default:
break;
}
case AUTO:
switch(c-> CMD_mode)
{
case AUTO_MID360_Pitch:
pitch_cfg ->go_init=LowPassFilter2p_Apply(&u->filled[0],c->pos);
if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE)
{
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*/
pitch_cfg ->go_release_pos=c->pos;
// if(u->CoContext .CoState == CoPITCH){
// u->CoContext.CoState=CoPITCH_MID360;
// }
// Co_Process(u,out);
Pitch_Process(u,out);
break ;
case AUTO_MID360:
target->Shoot_M2006_angle =pitch_cfg ->m2006_init ;
u->Pitch_Cfg .PitchState = PITCH_PREPARE;
u->DribbleCont .DribbleState = DRIBBLE_PREPARE;
break ;
}
return 0;
@ -339,20 +373,24 @@ 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){
PitchCfg_t *cfg = &u->Pitch_Cfg.PitchConfig;
PitchState_t *state =&u->Pitch_Cfg .PitchState;
up_motor_target_t *target=&u->motor_target ;
switch(*state){
case PITCH_START:
u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动
cfg->pull_speed=10;
target->go_shoot = cfg->go_pull_pos;
if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改
u->motor_target .Shoot_M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
u->PitchContext .PitchState=PITCH_PULL_TRIGGER;
target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0
u->Pitch_Cfg .PitchConfig .pull_speed=6;
*state=PITCH_PULL_TRIGGER;
}//更改标志位
break ;
@ -361,11 +399,21 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
{
u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
target->go_shoot=cfg->go_release_pos;
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 ;
}
@ -385,40 +433,46 @@ 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
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:
if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f))
target->Dribble_translate_M3508_angle =DribbleCfg->m3508_translate_angle;//平行移动
if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主
{
u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态
u->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态
}
break;
case DRIBBLE_PROCESS_DOWN:
u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed;
u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed;
u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed;
target->Dribble_M3508_speed[0]=DribbleCfg->spd;
target->Dribble_M3508_speed[1]=DribbleCfg->spd;
target->Dribble_M3508_speed[2]=DribbleCfg->spd;
if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm,
u->motorfeedback .DJmotor_feedback [1].rpm,
u->motorfeedback .DJmotor_feedback [2].rpm,
u->motor_target.Dribble_M3508_speed [0],
u->motor_target.Dribble_M3508_speed [1],
u->motor_target.Dribble_M3508_speed[2],
50.0f,50)
u->motorfeedback .DJmotor_feedback [1].rpm,
u->motorfeedback .DJmotor_feedback [2].rpm,
DribbleCfg->spd,
DribbleCfg->spd,
DribbleCfg->spd, 50.0f,50)
) {
RELAY1_TOGGLE(1); //速度达到后打开气缸
common_speed_flag =1;
}
if(common_speed_flag){
if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测，反转
u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
if(u->DribbleCont .DribbleConfig .light_ball_flag == 0){//球下落检测，反转
target->Dribble_M3508_speed[0]=DribbleCfg->rev_spd;
target->Dribble_M3508_speed[1]=DribbleCfg->rev_spd;
target->Dribble_M3508_speed[2]=DribbleCfg->rev_spd;
*DribbleState=DRIBBLE_PROCESS_UP;
u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP;
}
}
@ -426,25 +480,31 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
break;
case DRIBBLE_PROCESS_UP:
if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&&
(u->motorfeedback .DJmotor_feedback [1].rpm>0)&&
(u->motorfeedback .DJmotor_feedback [2].rpm>0)
common_speed_flag =0;
if((u->motorfeedback .DJmotor_feedback [0].rpm<-500)&&
(u->motorfeedback .DJmotor_feedback [1].rpm<-500)&&
(u->motorfeedback .DJmotor_feedback [2].rpm<-500)
){
if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){
u->DribbleContext .DribbleState=DRIBBLE_DONE;
RELAY1_TOGGLE(0); //关闭气缸
}
common_speed_reverse_flag=1;
}
if(common_speed_reverse_flag){
if(DribbleCfg->light_ball_flag == 1){
*DribbleState=DRIBBLE_DONE;
RELAY1_TOGGLE(0); //关闭气缸
}
}
break ;
case DRIBBLE_DONE:
common_speed_reverse_flag=0;
for(int i=0;i<3;i++){
u->motor_target.Dribble_M3508_speed[i]=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0
target->Dribble_M3508_speed[i]=DribbleCfg->init_spd ;//三摩擦速度归0
}
/*标志位清零*/
u->DribbleContext.DribbleConfig.light_ball_flag=0;
u->DribbleContext.DribbleConfig.light_3508_flag=0;
DribbleCfg->light_ball_flag=0;
DribbleCfg->light_3508_flag=0;
break;
@ -454,5 +514,95 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
}
return 0;
}
// CoPREPARE, // 准备阶段
// CoTRANSLATE_OUT,//上方平移,去运球
// CoDRIBBLE, //运球阶段
// CoTRANSLATE_IN,//上方平移，送球发射，回到运球位置
// CoPITCH, //发射
// CoDONE,
int8_t Co_Process(UP_t *u, CAN_Output_t *out)
{
switch(u->CoContext .CoState )
{
case CoPREPARE:
break ;
case CoTRANSLATE_OUT:
u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .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->DribbleCont .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，运球转移状态
u->Pitch_Cfg .PitchState = PITCH_START;
u->CoContext .CoState =CoDRIBBLE;
}
break;
case CoDRIBBLE:
Dribble_Process(u,out); //状态停在DRIBBLE_DONE
Pitch_Process(u,out); //状态停在PITCH_LAUNCHING
//状态停在对应位置时,平移去给发射送球
if(u->DribbleCont .DribbleState ==DRIBBLE_DONE && u->Pitch_Cfg.PitchState ==PITCH_LAUNCHING)
{
u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig .m3508_init_ang;
}
if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleCont .DribbleConfig.m3508_init_ang,1.0f))
{
u->motor_target.Dribble_M3508_speed[0]=1000;
u->motor_target.Dribble_M3508_speed[1]=1000;
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->DribbleCont .DribbleConfig.light_ball_flag == 0)
{
u->motor_target.Dribble_M3508_speed[0]=0;
u->motor_target.Dribble_M3508_speed[1]=0;
u->motor_target.Dribble_M3508_speed[2]=0;
u->motor_target .Dribble_translate_M3508_angle =u->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,卡到最右端
{
u->CoContext .CoState =CoPITCH;
}
break ;
case CoPITCH:
case CoPITCH_MID360:
u->motor_target .go_shoot=u->Pitch_Cfg.PitchConfig.go_init;
break ;
break ;
}
}

192
User/Module/up.h
View File

@ -26,16 +26,25 @@
运行函数，switch(状态) 运行相应函数
*/
/*配合过程状态*/
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
CoPITCH_MID360, //雷达发射
CoDONE,
}CoState_t;
/*总配合上下文*/
typedef struct {
CoState_t CoState;
uint8_t is_init ;
} CoCon_t;
@ -46,33 +55,39 @@ typedef enum {
PITCH_START, //启动，拉扳机
PITCH_PULL_TRIGGER,
PITCH_LAUNCHING, // 发射中
PITCH_COMPLETE // 完成
} PitchState_t;
/* 投球参数配置 */
typedef struct {
fp32 m2006_init_angle; // M2006初始角度-140
fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机
fp32 go1_init_position; // GO电机触发位置,0,初始位置
fp32 go1_release_threshold; // go上升去合并扳机，扳机位置
fp32 m2006_Screw_init;
fp32 m2006_init; // M2006初始角度
fp32 m2006_trig; // M2006触发角度0,用来合并扳机
fp32 go_init; // GO电机触发位置,初始位置，后续更改用于发射的位置
fp32 go_pull_pos; // go上升去合并扳机，扳机位置
fp32 Pitch_angle;
} PitchConfig_t;
fp32 pull_speed;//go速度
fp32 go_release_pos;//go松开，发射位置
} PitchCfg_t;
//fp32 go_pull_pos;
// fp32 m2006_init; // M2006初始角度
// fp32 m2006_trig; // M2006触发角度
// fp32 go_init; // GO初始位置
// fp32 go_release; // GO释放阈值
// fp32 go_recv; // GO接球位置
// fp32 screw_init; // 螺杆初始值
// fp32 pitch_ang; // 投球角度
// fp32 pull_spd; // 拉动速度
/* 投球控制上下文 */
typedef struct {
PitchState_t PitchState;
PitchConfig_t PitchConfig;
uint8_t is_initialized ;
} PitchContext_t;
PitchCfg_t PitchConfig;
uint8_t is_init ;
} Pitch_Cfg_t;
/*运球*/
typedef enum {
@ -88,29 +103,27 @@ typedef enum {
typedef struct {
int8_t dribble_flag;//当移动三摩擦后为1，否则为0，防止发射撞到
fp32 m3508_init_angle; // 平移前位置
fp32 m3508_init_ang; // 3508平移前位置
fp32 m3508_translate_angle; // 平移后位置
fp32 m3508_dribble_init_speed;
fp32 m3508_dribble_speed; // 转动速度
fp32 m3508_dribble_Reverse_speed;
fp32 init_spd;
fp32 spd; // 转动速度
fp32 rev_spd;
/*光电标志位，初始值均为0，触发为1*/
int light_3508_flag;//3508平移处的光电，0初始，1到位置
int light_ball_flag;//检测球的flag
} DribbleConfig_t;
} DribbleCfg_t;
/* 状态机上下文 */
typedef struct {
DribbleState_t DribbleState;
DribbleConfig_t DribbleConfig;
DribbleCfg_t DribbleConfig;
uint8_t is_initialized;
uint8_t is_init;
} DribbleContext_t;
} DribbleCont_t;
typedef struct {
@ -141,56 +154,12 @@ typedef struct
pid_param_t Dribble_translate_M3508_angle_param;//平移用的角度环
DribbleConfig_t DribbleConfig_Config;
PitchConfig_t PitchConfig_Config;
DribbleCfg_t DribbleCfg;
PitchCfg_t PitchCfg;
GO_MotorCmd_t go_cmd;
}UP_Param_t;
typedef struct
{
fp32 ecd;
fp32 rpm;
uint8_t id;
fp32 orig_angle;
fp32 last_angle;
int32_t round_cnt;
int init_cnt;
fp32 total_angle;
}DJmotor_feedback_t;
typedef struct{
uint8_t up_task_run;
const UP_Param_t *param;
/*运球过程*/
DribbleContext_t DribbleContext;
/*投篮过程*/
PitchContext_t PitchContext;
CMD_t *cmd;
struct{
struct{
fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm;
}VESC;
GO_MotorData_t *go_data;//存放go电机数据
DJmotor_feedback_t DJmotor_feedback[6];
struct {
uint32_t ecd;
float angle;
}Encoder;
}motorfeedback;
struct{
fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm;
@ -204,9 +173,9 @@ typedef struct{
fp32 Shoot_Pitch_angle;
}motor_target;
struct{
}up_motor_target_t;
typedef struct{
pid_type_def VESC_5065_M1;
@ -226,11 +195,55 @@ typedef struct{
pid_type_def Dribble_translate_M3508_angle;//平移用的角度环
}pid;
GO_MotorCmd_t go_cmd;
}up_pid_t;
typedef struct
{
fp32 ecd;
fp32 rpm;
uint8_t id;
fp32 orig_angle;
fp32 last_angle;
int32_t round_cnt;
int init_cnt;
fp32 total_angle;
}DJmotor_feedback_t;
typedef struct{
uint8_t up_task_run;
const UP_Param_t *param;
CoCon_t CoContext;
/*运球过程*/
DribbleCont_t DribbleCont;
/*投篮过程*/
Pitch_Cfg_t Pitch_Cfg;
CMD_t *cmd;
struct{
struct{
fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm;
}VESC;
GO_MotorData_t *go_data;//存放go电机数据
DJmotor_feedback_t DJmotor_feedback[6];
struct {
uint32_t ecd;
float angle;
}Encoder;
}motorfeedback;
up_pid_t pid;
up_motor_target_t motor_target;
GO_MotorCmd_t go_cmd;
/*经PID计算后的实际发送给电机的实时输出值*/
struct
@ -246,8 +259,6 @@ typedef struct{
fp32 vofa_send[8];
} UP_t;
@ -262,7 +273,8 @@ int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle
int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed);
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
int8_t Co_Process(UP_t *u, CAN_Output_t *out);
#endif

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

1
User/bsp/bsp_usart.h
View File

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

6
User/bsp/pwm.c
View File

@ -19,11 +19,11 @@ int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
return BSP_OK;
}
uint16_t pulse;
int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
if (duty_cycle < 0.0f) duty_cycle = 0.f;
uint16_t pulse;
/* 通过PWM通道对应定时器重载值和给定占空比，计算PWM周期值 */
switch (ch) {
case BSP_PWM_IMU_HEAT:
@ -38,7 +38,9 @@ int8_t BSP_PWM_Set(BSP_PWM_Channel_t ch, float duty_cycle) {
break;
}
} else {
// BSP_PWM_Stop(ch);
pulse =0;
__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, pulse);
//BSP_PWM_Stop(ch);
}
return BSP_OK;
}

53
User/device/can_use.c
View File

@ -32,7 +32,7 @@
#define CAN_M3508_MAX_ABS_CUR (20)
#define CAN_M2006_MAX_ABS_CUR (10)
#define CAN_ENCODER_RESOLUTION (32768) //欧艾迪编码器分辨率
#define CAN_ENCODER_RESOLUTION (4096) //欧艾迪编码器分辨率
CAN_RawRx_t raw_rx1;//原始的can数据
CAN_RawRx_t raw_rx2;
@ -56,31 +56,20 @@ static void CAN_DJIMotor_Decode(CAN_MotorFeedback_t *feedback,
feedback->torque_current =
raw_current * CAN_GM6020_MAX_ABS_CUR / (float)CAN_MOTOR_CUR_RES;
}
static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id,
static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,
const uint8_t *raw) {
if (feedback == NULL || raw == NULL) return;
switch (id)
{
case CAN_SICK_ID_1:
feedback->raw_dis[0] = (uint16_t)(raw[0] << 8| raw[1]);
static uint16_t sick_rec[4];
break ;
case CAN_SICK_ID_2:
feedback->raw_dis[1] = (uint16_t)(raw[0] << 8| raw[1]);
break ;
case CAN_SICK_ID_3:
feedback->raw_dis[2] = (uint16_t)(raw[0] << 8| raw[1]);
break ;
case CAN_SICK_ID_4:
feedback->raw_dis[3] = (uint16_t)(raw[0] << 8| raw[1]);
break ;
}
sick_rec[0] = (uint16_t)(raw[0] << 8 | raw[1]);
sick_rec[1] = (uint16_t)(raw[2] << 8 | raw[3]);
sick_rec[2] = (uint16_t)(raw[4] << 8 | raw[5]);
sick_rec[3] = (uint16_t)(raw[6] << 8 | raw[7]);
feedback ->raw_dis [0]= sick_rec[0];
feedback ->raw_dis [1]= sick_rec[1];
feedback ->raw_dis [2]= sick_rec[2];
feedback ->raw_dis [3]= sick_rec[3];
}
void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
const uint8_t *raw) {
@ -93,7 +82,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
{
case 0x01:
feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24;
feedback->angle=(fp32)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f;
feedback->angle=(fp32)(2048-(fp32)feedback->ecd)/(2048-1797)*(70.0f-48.0f)+48.0f;
break;
}
}
@ -383,19 +373,10 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
CAN_DJIMotor_Decode(&(can->motor.chassis_motor3508.as_array[index]), can_rx->rx_data);
detect_hook(CHASSIS3508M1_TOE + index);
break;
case CAN_SICK_ID_1:
CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_1, can_rx->rx_data);
break;
case CAN_SICK_ID_2:
CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_2, can_rx->rx_data);
break;
case CAN_SICK_ID_3:
CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_3, can_rx->rx_data);
break;
case CAN_SICK_ID_4:
CAN_Sick_Receive(&(can->sickfed),CAN_SICK_ID_4, can_rx->rx_data);
case CAN_SICK_ID:
CAN_Sick_Receive(&(can->sickfed), can_rx->rx_data);
break;
default:
break;
}

8
User/device/can_use.h
View File

@ -18,10 +18,8 @@ typedef enum {
CAN_UP_M3508_M5_ID = 0x205, /* 1 */
CAN_UP_M3508_M6_ID = 0x206, /* 2 */
CAN_SICK_ID_1=0x301,
CAN_SICK_ID_2=0x302,
CAN_SICK_ID_3=0x303,
CAN_SICK_ID_4=0x304,
CAN_SICK_ID=0x305,
CAN_Encoder_ID=0x01,
@ -200,6 +198,6 @@ void CAN_Encoder_Control(CAN_t *can);
void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
const uint8_t *raw) ;
static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,uint16_t id,
static void CAN_Sick_Receive(CAN_SickFeedback_t *feedback,
const uint8_t *raw) ;
#endif

31
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){
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->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;
@ -151,11 +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_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)
@ -189,10 +191,14 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
if(cmd ->CMD_CtrlType ==AUTO){
/*自动下的*/
if(rc->LD.key_E ==CMD_SW_DOWN ) cmd ->CMD_mode =AUTO_NAVI;
else if(rc->LD.key_E ==CMD_SW_UP) cmd ->CMD_mode =AUTO_PICK;
if (rc->LD.key_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_MID360_Pitch;
else if(rc->LD .key_E ==CMD_SW_MID ) cmd ->CMD_mode =AUTO_MID360;
else cmd ->CMD_mode =Normal ;
}
}
else if(cmd ->CMD_CtrlType ==RCcontrol){
/*手动下的*/
@ -202,3 +208,4 @@ int8_t CMD_LD(CMD_t *cmd,const CMD_RC_t *rc){
else cmd ->CMD_mode =Normal;
}
}

30
User/device/cmd.h
View File

@ -8,7 +8,8 @@
#include <string.h>
#define MID (0x09)
#define PICK (0x06)
#define VISION (0x02)
#define NUC (0x08)
typedef enum{
RCcontrol,//遥控器控制，左按键上，控制上层
@ -22,8 +23,9 @@ typedef enum{
Normal, //无模式
AUTO_NAVI,
AUTO_PICK,
AUTO_MID360,
AUTO_MID360_Pitch,
AUTO_MID360_Adjust,//雷达调整
UP_Adjust,//上层调整
@ -41,17 +43,19 @@ typedef struct {
fp32 vx;
fp32 vy;
fp32 wz;
}navi;
fp32 pos;
fp32 angle;
char flag;
}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 */
typedef enum {
@ -122,6 +126,8 @@ typedef struct {
fp32 key_ctrl_l;
fp32 key_ctrl_r;
fp32 pos;//雷达反馈go位置
fp32 Vx;
fp32 Vy;
fp32 Vw;

135
User/device/nuc.c
View File

@ -6,7 +6,9 @@ static volatile uint32_t drop_message = 0;
static osThreadId_t thread_alert;
uint8_t nucbuf[31];
static uint8_t nucbuf[31];
static char SendBuffer[19];
static void NUC_IdleCallback(void) {
osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
@ -27,13 +29,40 @@ int8_t NUC_StartReceiving() {
return DEVICE_OK;
return DEVICE_ERR;
}
int8_t NUC_StartSending(fp32 *data) {
union
{
float x[4];
char data[16];
}instance;
for (int i = 0; i < 4; i++) {
instance.x[i] = data[i];
}
SendBuffer[0] = 0xFC; //发送ID
SendBuffer[1] = 0x01; //控制帧
for(int i = 2; i < 18; i++)
{
SendBuffer[i] = instance.data[i-2];
}
SendBuffer[18] = 0xFD; //结束符
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_NUC),
(uint8_t *)SendBuffer,
sizeof(SendBuffer)) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
int8_t NUC_Restart(void) {
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_NUC));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_NUC));
return DEVICE_OK;
}
bool_t NUC_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,100) ==
SIGNAL_NUC_RAW_REDY);
}
@ -42,8 +71,8 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
if(n ==NULL) return DEVICE_ERR_NULL;
union
{
float x[3];
char data[12];
float x[5];
char data[20];
}instance;
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
else{
@ -51,7 +80,35 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
n->ctrl_status =nucbuf[2];
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
0xFF HEAD
0x09 控制帧
@ -61,69 +118,37 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
wz fp32
0xFE TAIL
*/
if(nucbuf[15]!=TAIL)goto error;
if(nucbuf[24]!=TAIL)goto error;
instance.data[3] = nucbuf[6];
instance.data[2] = nucbuf[5];
instance.data[1] = nucbuf[4];
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->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;
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;
}

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
uint8_t status;//控制状态
uint8_t pit_status;//pit相机朝向
} NUC_t;
int8_t NUC_Init(NUC_t *nuc);
int8_t NUC_StartReceiving(void);
int8_t NUC_StartSending(fp32 *data) ;
bool_t NUC_WaitDmaCplt(void);
int8_t NUC_RawParse(CMD_NUC_t *n);
int8_t NUC_HandleOffline(CMD_NUC_t *cmd);

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->map_ch[0]=map_fp32(raw->ch[0],-719,680,-1,1);
raw->map_ch[1]=map_fp32(raw->ch[1],-653,746,-1,1);
raw->map_ch[2]=map_fp32(raw->ch[2],95,1482,0,1);
raw->map_ch[3]=map_fp32(raw->ch[3],-317,375,-1,1);
if (raw->ch[0] < 0)
raw->map_ch[0] = map_fp32(raw->ch[0], -696, 2, -1, 0);
else
raw->map_ch[0] = map_fp32(raw->ch[0], 2, 704, 0, 1);
// ch[1]
if (raw->ch[1] < 0)
raw->map_ch[1] = map_fp32(raw->ch[1], -638, 5, -1, 0);
else
raw->map_ch[1] = map_fp32(raw->ch[1], 5, 762, 0, 1);
raw->map_ch[2] = map_fp32(raw->ch[2], 2, 1377, 0, 1);
// ch[3]
if (raw->ch[3] < 0)
raw->map_ch[3] = map_fp32(raw->ch[3], -344, 0, -1, 0);
else
raw->map_ch[3] = map_fp32(raw->ch[3], 0, 348, 0, 1);
/*非线性映射*/
raw->map_ch[0]=expo_map(raw->map_ch[0],0.7f);

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*/
// CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata));
// osDelay(1);
// CDC_Transmit_FS( tail, 4);
// HAL_UART_Transmit_DMA(&huart1, ( uint8_t *)fdata, sizeof(fdata));
// osDelay(1);
// HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_VOFA), tail, 4);
// osDelay(1);
CDC_Transmit_FS( ( uint8_t *)fdata, sizeof(fdata));
osDelay(1);
// CDC_Transmit_FS( tail, 4);
// HAL_UART_Transmit_DMA(&huart1, tail, 4);
// osDelay(1);
}

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
// CAN_Sick_Control(&can);
CAN_Encoder_Control(&can);
/*can设备数据存入队列*/

9
User/task/chassis_task.c
View File

@ -56,6 +56,8 @@ void Task_Chassis(void *argument)
{
#ifdef DEBUG
task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId());
task_runtime.freq.chassis=TASK_FREQ_CHASSIS;
task_runtime.last_up_time.chassis=tick;
#endif
/*imu数据获取*/
@ -85,13 +87,14 @@ void Task_Chassis(void *argument)
osMessageQueueReset(task_runtime.msgq.can.output.chassis3508);//清空队列
osMessageQueuePut(task_runtime.msgq.can.output.chassis3508, &out.motor_CHASSIS3508, 0, 0); //发送数据
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc_send);//清空队列
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc_send, &chassis.NUC_send, 0, 0); //发送数据
vofa_send[0] = chassis.vofa_send[0];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[1] = chassis.vofa_send[1];
vofa_send[2] = chassis.vofa_send[2];
vofa_send[3] = chassis.vofa_send[3];
vofa_send[4] = chassis.vofa_send[4];
vofa_send[5] = chassis.vofa_send[5];
vofa_send[5] = chassis.vofa_send[5];
vofa_send[6] = chassis.vofa_send[6];
vofa_send[7] = chassis.vofa_send[7];

5
User/task/cmd_task.c
View File

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

4
User/task/init.c
View File

@ -85,7 +85,9 @@ void Task_Init(void *argument) {
task_runtime.msgq.cmd.raw.nuc =
osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);
task_runtime.msgq.cmd.raw.nuc_send =
osMessageQueueNew(3u,sizeof(NUC_send_t), NULL);
osKernelUnlock();
osThreadTerminate(osThreadGetId()); /* 结束自身 */
}

18
User/task/nuc_task.c
View File

@ -5,31 +5,38 @@
NUC_t nuc_raw;
CMD_NUC_t cmd_fromnuc;
NUC_send_t NUC_send;
#else
static NUC_t nuc_raw;
static CMD_NUC_t cmd_fromnuc;
NUC_send_t NUC_send;
#endif
fp32 send[4]={11.0f,45.0,1.f,4.0f};
void Task_nuc(void *argument){
(void)argument; /**/
// osDelay(TASK_INIT_DELAY_NUC);
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_NUC;
NUC_Init(&nuc_raw);
uint32_t tick = osKernelGetTickCount();
while (1)
{
#ifdef DEBUG
task_runtime.stack_water_mark.nuc= osThreadGetStackSpace(osThreadGetId());
task_runtime .freq.nuc = TASK_FREQ_NUC;
task_runtime.last_up_time.nuc= tick;
#endif
NUC_StartReceiving();
if (NUC_WaitDmaCplt()){
NUC_StartSending(NUC_send.send);
// NUC_StartSending (send);
if (NUC_WaitDmaCplt()){
NUC_RawParse(&cmd_fromnuc);
}
else{
@ -37,7 +44,8 @@ void Task_nuc(void *argument){
}
osMessageQueueReset(task_runtime.msgq.cmd.raw.nuc);
osMessageQueuePut(task_runtime.msgq.cmd.raw.nuc,&(cmd_fromnuc),0,0);
osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc_send, &NUC_send, NULL, 0);
tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
osDelayUntil(tick);

5
User/task/up_task.c
View File

@ -70,7 +70,6 @@ void Task_up(void *argument)
ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1);
/*can上设备数据获取*/
osMessageQueueGet(task_runtime.msgq.can.feedback.UP_CAN_feedback, &can, NULL, 0);
@ -92,8 +91,8 @@ void Task_up(void *argument)
osMessageQueuePut(task_runtime.msgq.can.output.shoot5065 ,&UP_CAN_out.chassis5065, 0, 0);
vofa_send [0]=UP.vofa_send [0];
vofa_send [1]=UP.vofa_send [1];
// vofa_send [0]=UP.vofa_send [0];
// vofa_send [1]=UP.vofa_send [1];
vofa_tx_main (vofa_send);
tick += delay_tick;

6
User/task/user_task.h
View File

@ -58,17 +58,15 @@ typedef struct {
struct {
struct {
osMessageQueueId_t rc;
osMessageQueueId_t nuc;
osMessageQueueId_t nuc; //
osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
osMessageQueueId_t nuc_send; //给nuc发
}raw;
/*控制分离*/
osMessageQueueId_t UP_cmd_ctrl_t;
osMessageQueueId_t CHASSIS_cmd_ctrl_t;
osMessageQueueId_t status;
} cmd;