diff --git a/MDK-ARM/AUTO_CHASSIS.uvoptx b/MDK-ARM/AUTO_CHASSIS.uvoptx
index d37223d..5f23ba8 100644
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@@ -120,7 +120,7 @@
0
ST-LINKIII-KEIL_SWO
- -U00160029510000164E574E32 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+ -U00260035480000034E575152 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
0
@@ -235,11 +235,6 @@
1
flaggg,0x0A
-
- 16
- 1
- ddd
-
diff --git a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
index a9d381e..1b1ae25 100644
Binary files a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf and b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf differ
diff --git a/User/Module/config.c b/User/Module/config.c
index 1e0836f..78ab050 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -90,6 +90,13 @@ static const ConfigParam_t param_chassis ={
.flip_timing = 200,
.release_threshold = -1.2f,
},
+ /*投球*/
+ .PitchConfig_Config = {
+ .m2006_init_angle =-140,
+ .m2006_trigger_angle =0,
+ .go1_init_position = 0,
+ .go1_release_threshold =-2050,
+},
},
diff --git a/User/Module/up.c b/User/Module/up.c
index 0ad066f..1c00309 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -11,23 +11,7 @@
#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
-/*投球*/
-#define M2006_INIT_ANGLE (-120) //初始和发射
-#define GO1_INIT_POSITION (0) //go初始
-#define M2006_TRIGGER (0) //扳机
-#define GO_POSITION_TRIGGER (-300) //go发射控制值
-#define GO_POSITION_PITCH_FD (-4.8f) //反馈检测
-
-
-/*运球*/
-
-#define M3508_INIT_ANGLE (0) //3508
-#define GO2_INIT_ANGLE (0) //go2的初始角度
-#define M3508_HIGH_ANGLE (900) //3508，升起角度
-#define GO2_Flip_timing (200) // go的翻转时机，以3508角度反馈值为准
-#define GO2_Flip_ANGLE (-160) //go2翻转角度
-#define BALL_REL_TIME (-1.2) //球放开时机，以go的反馈值为准
// 定义继电器控制
#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
#define RELAY2_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
@@ -56,14 +40,21 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
}
- // 初始化状态机
- if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机
+ // 初始化上层状态机
+ if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
- u->DribbleContext .DribbleState = STATE_GRAB_BALL; //状态更新,开始夹球
+ u->DribbleContext .DribbleState = Dribble_PREPARE;
u->DribbleContext .is_initialized = 1;
+ u->DribbleContext .Dribble_run_num =0;//记录运行次数
}
+ 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;
+ u->PitchContext .Pitch_run_num =0;//记录运行次数
+ }
}
@@ -95,7 +86,7 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
-/*上层电机控制,使用can1的id1和2*/
+/*上层大疆电机角度控制,使用can1的id1和2*/
int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
// 获取当前编码器角度
int8_t cnt=0;
@@ -186,7 +177,8 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
-
+ return 0;
+
}
@@ -200,6 +192,8 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
u->final_out .final_pitchout =
PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
u->motor_target .rotor_pit6020angle =angle ;
+ return 0;
+
}
/*go电机控制*/
@@ -207,6 +201,7 @@ int8_t GO_SendData(UP_t *u,int id,float pos)
{
GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param[id] .rev ,u->param->go_param[id] .T ,u->param->go_param[id] .W ,AngleChange(RADIAN,pos),u->param->go_param [id].K_P ,u->param->go_param[id] .K_W );
+ return 0;
}
@@ -233,7 +228,8 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
out ->chassis5065 .erpm [1]= -u->final_out .final_VESC_5065_M2out ;
out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
-
+ return 0;
+
}
@@ -241,31 +237,6 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{
@@ -278,16 +249,14 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
switch (c->CMD_UP_mode )
{
- case Normal :
-
- u->Oper_control_state .Pitch_flag =Not_started_Pit;
- u->Oper_control_state .last_state = Not_started_Pit;
+ case Normal :
+ /*投篮*/
+ u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
+ u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
+ /*运球*/
+ u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
+ u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;
- u->motor_target .go_shoot =0;
- u->motor_target .M2006_angle =M2006_INIT_ANGLE;
- u->motor_target .go_spin =u->DribbleContext.DribbleConfig .go2_init_angle ;
- u->motor_target .M3508_angle =0;
- u->DribbleContext .DribbleState = STATE_GRAB_BALL; //状态更新,开始夹球
RELAY1_TOGGLE (1);//接球，1开0关
RELAY2_TOGGLE (1);//夹球，0关1开
@@ -295,70 +264,29 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
break;
- case Pitch_pull :
- if(u->Oper_control_state .last_state == Not_started_Pit)
- {
-
-
- u->motor_target .go_shoot =-2050;
- u->motor_target .M2006_angle =-140;
-
- if(u->motorfeedback .GO_motor_info[0]->Pos < (-35.20)) //到达位置后再扣扳机
- u->motor_target .go_shoot =GO_POSITION_TRIGGER;
-
- if(u->motorfeedback .GO_motor_info[0]->Pos < (GO_POSITION_PITCH_FD)) //到达位置后再扣扳机
- {
- u->motor_target .M2006_angle =M2006_INIT_ANGLE;
- if(u->motorfeedback .M2006.total_angle>-5)
- {//避免没勾上就拉
- u->motor_target .go_shoot =GO1_INIT_POSITION;
- u->Oper_control_state .Pitch_flag = Launch_Ready ;
- u->Oper_control_state .last_state = Launch_Ready;
-
- }
-
- }
- }
-
+ case Pitch :
+ Pitch_Process(u,out);
+ u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
+
break ;
- case Pitch_shoot :
- if (u->Oper_control_state .last_state == Launch_Ready)
- {
-
- u->motor_target .M2006_angle =M2006_INIT_ANGLE;
- u->Oper_control_state .Pitch_flag = Done_Pit ;
- u->Oper_control_state .last_state = Done_Pit;
-
- }
-
- break;
-
-
-
-
-
-
-
-
-
+
case Dribble:
{
/*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 */
Dribble_Process(u,out);
+ u->DribbleContext .DribbleState =STATE_GRAB_BALL;//置标志位用于启动运球
}break ;
-
-
-
-
-
-
-
-
-
-
-
+ case PICK_Pitch_START :
+
+ Pitch_Process(u,out);
+ u->PitchContext .PitchState=PITCH_START;//置标志位用于启动视觉辅助投篮
+
+ break;
+
+
+
}
break;
@@ -369,11 +297,60 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
-
+return 0;
}
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
+{
+
+
+ switch(u->PitchContext .PitchState){
+
+ case PITCH_START:
+ u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
+
+ if(u->motorfeedback .GO_motor_info[0]->Pos < -35.0) //检测go位置到达最上面，这里的检测条件可以更改
+ u->motor_target .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
+ u->PitchContext .PitchState =PITCH_PULL_TRIGGER; //更改标志位
+ break ;
+ case PITCH_PULL_TRIGGER:
+ if(u->motorfeedback .M2006 .total_angle <5) //当2006的总角度小于5，可以认为已经勾上
+ {
+ u->motor_target .go_shoot =u->PitchContext.PitchConfig .go1_init_position;//go下拉
+ u->PitchContext.PitchState =PITCH_LAUNCHING;//转移标志位
+ }
+
+ break ;
+ case PITCH_LAUNCHING:
+ if(u->motorfeedback .GO_motor_info [0]->Pos <2.0f)
+ {
+ u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度发射
+ u->PitchContext .PitchState =PITCH_COMPLETE;
+ }
+
+
+ break ;
+ case PITCH_COMPLETE://完成运行动作后，恢复2006，-140度，go，pos0位置
+ u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度
+ u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_init_position;
+ u->PitchContext .Pitch_run_num ++;//运行次数+1
+
+ break ;
+
+
+
+ }
+
+return 0;
+
+}
+
+
+
+
+
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
{
@@ -428,7 +405,7 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
case STATE_CATCH_DONE:
RELAY2_TOGGLE (1);//松球
RELAY1_TOGGLE (0);
-
+ u->DribbleContext .Dribble_run_num ++;//运行次数增加
break;
diff --git a/User/Module/up.h b/User/Module/up.h
index 7ff34bd..5250861 100644
--- a/User/Module/up.h
+++ b/User/Module/up.h
@@ -40,6 +40,31 @@
+/* 投球状态定义 */
+typedef enum {
+ PITCH_PREPARE, // 准备阶段
+ PITCH_START, //启动，拉扳机
+ PITCH_PULL_TRIGGER, // 扳机拉动
+ 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
+} PitchConfig_t;
+
+/* 投球控制上下文 */
+typedef struct {
+ PitchState_t PitchState;
+ PitchConfig_t PitchConfig;
+
+ uint8_t is_initialized ;
+ uint8_t Pitch_run_num;
+} PitchContext_t;
@@ -47,17 +72,10 @@
-typedef enum
-{
- Not_started_Pit=0,//未开始
- Launch_Ready=1, //准备发射
- Launch_complete=2,//发射完成
- Done_Pit=3 //已完成
-
-}Pitch_flag_t;
/*运球*/
typedef enum {
+ Dribble_PREPARE,
STATE_GRAB_BALL, // 夹球升起阶段
STATE_RELEASE_BALL, // 释放球体
STATE_CATCH_PREP, // 接球准备
@@ -81,19 +99,10 @@ typedef struct {
DribbleConfig_t DribbleConfig;
uint8_t is_initialized;
-
+ uint8_t Dribble_run_num;
+
} DribbleContext_t;
-/*运行控制中的控制*/
-
-typedef struct{
-
- /*投球过程*/
- Pitch_flag_t Pitch_flag;
-
- char last_state;
-
-} Oper_control_state_t;
typedef struct {
@@ -147,7 +156,7 @@ typedef struct
GO_param_t go_param[2];
DribbleConfig_t DribbleConfig_Config;
-
+ PitchConfig_t PitchConfig_Config;
}UP_Param_t;
typedef struct
@@ -174,16 +183,15 @@ typedef struct{
/*运球过程*/
DribbleContext_t DribbleContext;
-
+ /*投篮过程*/
+ PitchContext_t PitchContext;
UP_Imu_t pos088;
- /*控制及状态*/
CMD_t *cmd;
- Oper_control_state_t Oper_control_state;//上层机构的运行状态
struct{
fp32 rotor_pit6020ecd;
@@ -270,6 +278,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
int8_t UP_M3508_speed(UP_t *u,fp32 speed);
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
diff --git a/User/device/cmd.c b/User/device/cmd.c
index 07c6b86..88a50c0 100644
--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@@ -52,9 +52,9 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
else if(rc->sw_l==CMD_SW_UP)
{
cmd ->CMD_CtrlType =UP_RCcontrol;
- if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左上，右上，投篮
- if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Pitch_pull; //左上，右中，无模式
- if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Pitch_shoot; //左上，右上，投篮
+ if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
+ if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
+ if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左上，右上，运球
}
else if(rc->sw_l==CMD_SW_MID)
@@ -68,16 +68,16 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
}
if(rc->sw_r ==CMD_SW_DOWN)
{
- cmd ->CMD_UP_mode =Dribble; //左中，右上，运球
+ cmd ->CMD_UP_mode =Normal; //左中，右下，无模式
cmd ->CMD_CtrlType =UP_RCcontrol;
}
}
else if(rc->sw_l==CMD_SW_DOWN)
{
cmd ->CMD_CtrlType =PICK_t;
- if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
+ if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =PICK_Pitch_Normal; //左下，右上，投篮
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
- if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
+ if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =PICK_Pitch_START; //左下，右上，投篮
}
diff --git a/User/device/cmd.h b/User/device/cmd.h
index 8f064b1..24e998b 100644
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@@ -22,8 +22,11 @@ typedef enum{
Normal, //无模式
Dribble , //运球
- Pitch_pull , //投篮
- Pitch_shoot , //投篮
+ Pitch, //投篮
+
+ /*视觉辅助下的投篮*/
+ PICK_Pitch_Normal,
+ PICK_Pitch_START
}CMD_UP_mode_t;
typedef struct {