467 lines
14 KiB
C
467 lines
14 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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/*接线
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上层用到三个光电
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1.PE9 发射用 输出高电平 LIGHTA
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2.PE11 运球上3508 输出高电平 LIGHTB
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3.PE13 三摩擦检测球 输出高电平LIGHTC
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*/
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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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#define CAN2_G3508_ID (0x200)
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// 定义继电器控制
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#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, RELAY_Pin, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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int count = 0; // 满足条件的计数
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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_Angle_M2006_speed ,PID_POSITION ,&(u->param->Pitch_Angle_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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PID_init (&u->pid .Dribble_translate_M3508_angle ,PID_POSITION ,&(u->param->Dribble_translate_M3508_angle_param ));
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PID_init (&u->pid .Dribble_translate_M3508_speed ,PID_POSITION ,&(u->param->Dribble_translate_M3508_speed_param ));
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for(int i=0;i<3;i++){
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PID_init (&u->pid .Dribble_M3508_speed[i] ,PID_POSITION ,&(u->param->Dribble_M3508_speed_param ));
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}
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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++){ //范围0x201--0x204
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u->motorfeedback .DJmotor_feedback[i].id =i+CAN2_G3508_ID+1;
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u->motorfeedback .DJmotor_feedback[i].rpm =can ->motor .up_dribble_motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .DJmotor_feedback[i].ecd =can ->motor .up_dribble_motor3508.as_array [i].rotor_ecd ;
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DJ_processdata(&u->motorfeedback .DJmotor_feedback [i], MOTOR3508_ECD_TO_ANGLE);
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}
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for(int i=0;i<2;i++){ //范围0x205--0x206
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u->motorfeedback .DJmotor_feedback[i+4].id =i+CAN2_G3508_ID+4+1;
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u->motorfeedback .DJmotor_feedback[i+4].rpm =can ->motor .up_shoot_motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .DJmotor_feedback[i+4].ecd =can ->motor .up_shoot_motor3508.as_array [i].rotor_ecd ;
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DJ_processdata(&u->motorfeedback .DJmotor_feedback [i+4], 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-CAN2_G3508_ID-1]=delta_speed;
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return 0;
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}
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int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed)
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{
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fp32 delta_speed;
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delta_speed = PID_calc(Speed_pid , f->rpm , target_speed);
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u->final_out .DJfinal_out [id-CAN2_G3508_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_Speed_Control(u,0x201,&u->motorfeedback .DJmotor_feedback[0] ,&u->pid .Dribble_M3508_speed[0],u->motor_target .Dribble_M3508_speed);
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DJ_Speed_Control(u,0x202,&u->motorfeedback .DJmotor_feedback[1] ,&u->pid .Dribble_M3508_speed[1],-u->motor_target .Dribble_M3508_speed);
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DJ_Speed_Control(u,0x203,&u->motorfeedback .DJmotor_feedback[2] ,&u->pid .Dribble_M3508_speed[2],-u->motor_target .Dribble_M3508_speed);
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DJ_Angle_Control(u,0x204,&u->motorfeedback .DJmotor_feedback[3] ,
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&u->pid .Dribble_translate_M3508_angle ,
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&u->pid .Dribble_translate_M3508_speed ,
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u->motor_target .Dribble_translate_M3508_angle );
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DJ_Angle_Control(u,0x205,&u->motorfeedback .DJmotor_feedback[4] ,
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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,0x206,&u->motorfeedback .DJmotor_feedback[5] ,
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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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DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed,
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(PID_calc (&(u->pid .Pitch_M2006_angle ),
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u->motorfeedback .Encoder.angle,u->motor_target .Shoot_Pitch_angle))
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);
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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_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ;
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}
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for(int i=0;i<2;i++){
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out ->motor_UP3508_shoot.as_array[i]=u->final_out.DJfinal_out [i+4] ;
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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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int a=0;
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int b=0;
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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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u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle;
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is_pitch=0;
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} //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
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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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RELAY1_TOGGLE(0);//关闭气缸
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u->motor_target.Dribble_M3508_speed=0;
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u->motor_target .Dribble_translate_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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count = 0 ;
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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: //测试用
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u->PitchContext.PitchConfig.go1_init_position += c->Vx ;
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u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100;
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u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
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u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle;
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break ;
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case Dribble:
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{
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if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){
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u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE;
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}
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//光电状态更新
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u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin);
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u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
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a=HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin);
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b=HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin);
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Dribble_Process(u,out);
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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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}
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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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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 [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
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{
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u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position;
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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 Dribble_Process(UP_t *u, CAN_Output_t *out)
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{
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switch (u->DribbleContext.DribbleState) {
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case DRIBBLE_TRANSLATE:
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u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动
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if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f))
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{
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u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后，转移状态
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}
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break;
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case DRIBBLE_PROCESS_DOWN:
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u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_speed;
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if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm,
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u->motorfeedback .DJmotor_feedback [1].rpm,
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u->motorfeedback .DJmotor_feedback [2].rpm,
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u->DribbleContext .DribbleConfig.m3508_dribble_speed,50.0f,50)
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) {
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RELAY1_TOGGLE(1); //速度达到后打开气缸
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if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测，反转
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u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
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u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP;
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}
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}
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break;
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case DRIBBLE_PROCESS_UP:
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if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&&
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(u->motorfeedback .DJmotor_feedback [1].rpm>0)&&
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(u->motorfeedback .DJmotor_feedback [2].rpm>0)
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){
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if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){
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||
u->DribbleContext .DribbleState=DRIBBLE_DONE;
|
||
RELAY1_TOGGLE(0); //关闭气缸
|
||
}
|
||
}
|
||
break ;
|
||
case DRIBBLE_DONE:
|
||
u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//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;
|
||
|
||
|
||
break;
|
||
default:
|
||
// 处理未知状态
|
||
break;
|
||
}
|
||
return 0;
|
||
}
|
||
bool is_reached_multiple(float current1, float current2, float current3, float target, float mistake, int threshold) {
|
||
// static bool reached = false; // 是否已经满足条件
|
||
|
||
if (count >=50) {
|
||
return true; // 如果已经满足条件，始终返回 1
|
||
}
|
||
|
||
// 判断三个值是否都满足条件
|
||
bool all_reached = (fabs(current1 - target) < mistake) &&
|
||
(fabs(current2 -( -target)) < mistake) &&
|
||
(fabs(current3 - ( -target)) < mistake);
|
||
|
||
if (all_reached) {
|
||
count++; // 所有条件都满足，计数加 1
|
||
if (count >= threshold) {
|
||
return true;
|
||
}
|
||
} else {
|
||
count = 0; // 如果有一个不满足条件，计数清零
|
||
}
|
||
|
||
return false; // 未满足条件达到阈值，返回 0
|
||
}
|
||
|