478 lines
12 KiB
C
478 lines
12 KiB
C
#include "up.h"
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#include "gpio.h"
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#include "user_math.h"
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#include "bsp_buzzer.h"
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#include "bsp_delay.h"
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#define GEAR_RATIO_2006 (36) // 2006减速比
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#define GEAR_RATIO_3508 (19)
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#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
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#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
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#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
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// 定义继电器控制
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#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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#define RELAY2_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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{
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u->param = param; /*初始化参数 */
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/*pid初始化*/
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PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param ));
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PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));
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PID_init (&u->pid .Shoot_M2006angle ,PID_POSITION ,&(u->param->Shoot_M2006_angle_param ));
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PID_init (&u->pid .Shoot_M2006speed ,PID_POSITION ,&(u->param->Shoot_M2006_speed_param ));
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PID_init (&u->pid .Pitch_M2006_angle ,PID_POSITION ,&(u->param->Pitch_M2006_angle_param ));
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PID_init (&u->pid .Pitch_M2006_speed ,PID_POSITION ,&(u->param->Pitch_M2006_speed_param ));
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u->go_cmd =u->param ->go_cmd ;
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// 初始化上层状态机
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if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
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u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
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u->DribbleContext .DribbleState = Dribble_PREPARE;
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u->DribbleContext .is_initialized = 1;
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}
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if (!u->PitchContext .is_initialized) {
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u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值
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u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
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u->PitchContext .is_initialized = 1;
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}
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BSP_UART_RegisterCallback(BSP_UART_RS485, BSP_UART_RX_CPLT_CB, USART6_RxCompleteCallback);//注册串口回调函数，bsp层
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}
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/*can，上层状态更新*/
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int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
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u->motorfeedback .VESC.VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
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u->motorfeedback .VESC.VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
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u->motorfeedback .Encoder .angle = can ->Oid.angle ;
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u->motorfeedback .Encoder .ecd = can ->Oid.ecd ;
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for(int i=0;i<4;i++){
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u->motorfeedback .DJmotor_feedback[i].rpm =can ->motor .up_motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .DJmotor_feedback[i].ecd =can ->motor .up_motor3508.as_array [i].rotor_ecd ;
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DJ_processdata(&u->motorfeedback .DJmotor_feedback [i], MOTOR2006_ECD_TO_ANGLE);
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}
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u->cmd =c;
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return 0;
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}
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int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle)
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{
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int8_t cnt=0;
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fp32 angle ,delta;
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angle = f->ecd;
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if (f->init_cnt < 50) {
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f->orig_angle= angle;
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f->last_angle = angle;
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f->init_cnt++;
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return 0;
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}
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delta = angle - f->last_angle;
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if (delta > 4096) {
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f->round_cnt--;
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} else if (delta < -4096) {
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f->round_cnt++;
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}
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f->last_angle = angle;
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f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle;
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}
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/*
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这里id范围为1-4，
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*/
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int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle_pid,pid_type_def *Speed_pid,fp32 target_angle)
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{
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fp32 delta_angle,delta_speed;
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delta_angle = PID_calc(Angle_pid , f->total_angle , target_angle);
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delta_speed = PID_calc(Speed_pid , f->rpm , delta_angle);
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u->final_out .DJfinal_out [id-1]=delta_speed;
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return 0;
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}
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int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
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{
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u->motor_target .VESC_5065_M1_rpm =speed;
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u->motor_target .VESC_5065_M2_rpm =speed;
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u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
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u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
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return 0;
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}
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/*go电机控制*/
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int8_t GO_SendData(UP_t *u, float pos, float limit)
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{
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static int is_calibration=0;
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static fp32 error=0; //误差量
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// GO_MotorData_t *GO_calibration;//校准前，原始数据
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u->motorfeedback .go_data = get_GO_measure_point() ;
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// if(is_calibration==0)
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// {
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// is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 );
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// u->go_cmd.Pos = -50; //上电之后跑
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// error= GO_calibration->Pos ;
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// }
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// u->motorfeedback .go_data = GO_calibration;
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// u->motorfeedback .go_data ->Pos= error ;
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// u->go_cmd.Pos = pos;
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// 读取参数
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float tff = u->go_cmd.T; // 前馈力矩
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float kp = u->go_cmd.K_P; // 位置刚度
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float kd = u->go_cmd.K_W; // 速度阻尼
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float q_desired = u->go_cmd.Pos; // 期望位置（rad）
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float q_current = u->motorfeedback.go_data->Pos; // 当前角度位置（rad）
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float dq_desired = u->go_cmd.W; // 期望角速度（rad/s）
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float dq_current = u->motorfeedback.go_data->W; // 当前角速度（rad/s）
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// 计算输出力矩 tau
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float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
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/*限制最大输入来限制最大输出*/
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if (pos - q_current > limit) {
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u->go_cmd.Pos = q_current + limit; // 限制位置
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}else if (pos - q_current < -limit) {
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u->go_cmd.Pos = q_current - limit; // 限制位置
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}else {
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u->go_cmd.Pos = pos; // 允许位置
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}
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// 发送数据
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GO_M8010_send_data(&u->go_cmd);
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return 0;
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}
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int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
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{
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//电机控制 ，传进can
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DJ_Angle_Control(u,1,&u->motorfeedback .DJmotor_feedback[0] ,
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&u->pid .Shoot_M2006angle ,
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&u->pid .Shoot_M2006speed ,
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u->motor_target .Shoot_M2006_angle );
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DJ_Angle_Control(u,2,&u->motorfeedback .DJmotor_feedback[1] ,
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&u->pid .Pitch_M2006_angle ,
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&u->pid .Pitch_M2006_speed ,
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u->motor_target .Pitch_M2006_angle );
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GO_SendData(u,u->motor_target .go_shoot,5 );
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for(int i=0;i<4;i++){
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out ->motor_UP3508.as_array[i]=u->final_out.DJfinal_out [i] ;
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}
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out ->chassis5065 .erpm [0]= u->final_out .final_VESC_5065_M1out ;
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out ->chassis5065 .erpm [1]= -u->final_out .final_VESC_5065_M2out ;
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return 0;
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}
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int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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{
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if(u ==NULL) return 0;
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static int is_pitch=1;
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switch (c->CMD_CtrlType )
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{
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case RCcontrol: //在手动模式下
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switch (c-> CMD_mode )
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{
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case Normal :
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/*投篮*/
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if(is_pitch){
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u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
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is_pitch=0;
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}
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u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
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u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
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// /*运球*/
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// u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
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// u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;
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// u->DribbleContext .DribbleState = Dribble_PREPARE; //重置最初状态
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// RELAY1_TOGGLE (1);//夹球，0夹1开
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// RELAY2_TOGGLE (0);//球，0接1收
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//
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break;
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case Pitch :
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if (u->PitchContext .PitchState ==PITCH_PREPARE)
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{
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u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
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}
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Pitch_Process(u,out,c);
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break ;
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case UP_Adjust:
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u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
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u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
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u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
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u->motor_target .Pitch_M2006_angle=u->PitchContext.PitchConfig.m2006_Screw_init;
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break ;
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case Dribble:
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{
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/*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收 */
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if(u->DribbleContext.DribbleState== Dribble_PREPARE){
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u->DribbleContext .DribbleState =STATE_GRAB_BALL;
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}
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// Dribble_Process(u,out);
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}break ;
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case Dribbl_transfer:
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break ;
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// Dribbl_transfer_a(u,out);
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}
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break;
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default:
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break;
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}
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return 0;
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}
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
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{
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// go1_position=u->PitchContext .PitchConfig .go1_init_position ;
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// M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
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switch(u->PitchContext .PitchState){
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case PITCH_START:
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u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
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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
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u->motor_target .Shoot_M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
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u->PitchContext .PitchState=PITCH_PULL_TRIGGER;
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}//更改标志位
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break ;
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case PITCH_PULL_TRIGGER:
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if(u->motorfeedback .DJmotor_feedback [0].total_angle >-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
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{
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u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
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// u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
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// u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
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}
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break ;
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}
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return 0;
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}
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int8_t Pitch_Adjust(UP_t *u, CAN_Output_t *out,CMD_t *c)
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{
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u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
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u->PitchContext.PitchConfig.m2006_Screw_init += c->Vy;
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}
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//int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
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//{
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//
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// switch (u->DribbleContext.DribbleState) {
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// case STATE_GRAB_BALL://开始
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//
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// RELAY1_TOGGLE (0);//夹球
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//
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// u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起
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// u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_flip_angle;
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//
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// if((u->motorfeedback .M3508 .total_angle >400)) {
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// RELAY2_TOGGLE (1);
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//
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//// if(((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.1)&&(u->motorfeedback.M3508 .total_angle >1190)){
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////
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//// u->DribbleContext .DribbleState = STATE_RELEASE_BALL; //当go2到标准位置，标志位改变
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//// }
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//
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// }
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// break;
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// case STATE_RELEASE_BALL:
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// RELAY1_TOGGLE (1);//松球
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//
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//
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//
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//// if((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.3){
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//// u->motor_target.go_spin =-40; //恢复go2位置
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//// u->DribbleContext .DribbleState = STATE_CATCH_PREP; //当go2到标准位置，标志位改变
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//// }
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// break;
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// case STATE_CATCH_PREP:
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//// if((u->motorfeedback.GO_motor_info[1]->Pos )> -0.4){
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//// u->motor_target.M3508_angle =0 ; //当go2到初始位置，3508降
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////
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//// RELAY2_TOGGLE (0);//接球
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//// }
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// if(u->motorfeedback .M3508 .total_angle <51.0f){
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// RELAY1_TOGGLE (0);//夹球，0夹1开
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// u->DribbleContext .DribbleState = STATE_TRANSFER;
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// }
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//
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// break;
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//
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//
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//
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// break ;
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// default:
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// break;
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// }
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// return 0;
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//}
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//void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out)
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//{
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// switch (u->DribbleContext.DribbleState) {
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//
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//
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//
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// case STATE_TRANSFER:
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// if((u->motorfeedback.M3508 .total_angle <52.0f )) //满足这个状态时认为go和3508到达初始位置，再夹上球
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// {
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//
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// u->motor_target .go_spin =u->DribbleContext .DribbleConfig .go2_release_threshold ;
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// }
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//
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//// if(u->motorfeedback .GO_motor_info [1]->Pos < -4.9)
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//// {
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//// RELAY1_TOGGLE (1);//夹球，0夹1开
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////
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//// if(u->motorfeedback .GO_motor_info [1]->Pos > -4.8)
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//// {
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//// u->DribbleContext .DribbleState = STATE_CATCH_DONE; //当go2到标准位置，标志位改变
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//// }
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//// }
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//
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//
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// break ;
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// case STATE_CATCH_DONE:
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//
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// RELAY1_TOGGLE (1);//夹球，0夹1开
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// RELAY2_TOGGLE (0);//夹球，0接1收
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// u->motor_target.go_spin=u->DribbleContext .DribbleConfig.go2_init_angle ;
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// break;
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// break;
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// }
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//}
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