更新
This commit is contained in:
parent
37dc1ac1e9
commit
0ef286e5f2
@ -103,7 +103,7 @@
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<bEvRecOn>1</bEvRecOn>
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<bSchkAxf>0</bSchkAxf>
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<bTchkAxf>0</bTchkAxf>
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<nTsel>6</nTsel>
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<nTsel>3</nTsel>
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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@ -114,7 +114,7 @@
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
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<pMon>BIN\CMSIS_AGDI.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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<SetRegEntry>
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@ -140,12 +140,12 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>CMSIS_AGDI</Key>
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<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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<Name>-X"Horco CMSIS-DAP" -U4626385832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGUARM</Key>
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<Name>(105=-1,-1,-1,-1,0)</Name>
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<Name></Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -158,87 +158,32 @@
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>raw,0x0A</ItemText>
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<ItemText>UP,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>UP,0x0A</ItemText>
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<ItemText>GO_motor_info</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>can,0x0A</ItemText>
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<ItemText>dr16,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>can_out,0x0A</ItemText>
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<ItemText>cmd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>bbb,0x0A</ItemText>
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<ItemText>rc_ctrl,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>aaa,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>CCC</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>GO_motor_info</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>cbuf[36]</ItemText>
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</Ww>
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<Ww>
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<count>9</count>
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<WinNumber>1</WinNumber>
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<ItemText>dr16,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>10</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>11</count>
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<WinNumber>1</WinNumber>
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<ItemText>rc_ctrl,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>12</count>
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<WinNumber>1</WinNumber>
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<ItemText>up_cmd,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>13</count>
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<WinNumber>1</WinNumber>
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<ItemText>angle</ItemText>
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</Ww>
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<Ww>
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<count>14</count>
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<WinNumber>1</WinNumber>
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<ItemText>can_ZZ</ItemText>
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</Ww>
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<Ww>
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<count>15</count>
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<WinNumber>1</WinNumber>
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<ItemText>flaggg,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>16</count>
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<WinNumber>1</WinNumber>
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<ItemText>ddd</ItemText>
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<ItemText>aaa</ItemText>
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</Ww>
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</WatchWindow1>
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<WatchWindow2>
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Binary file not shown.
@ -214,6 +214,14 @@ void abs_limit_fp(fp32 *num, fp32 Limit)
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}
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}
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void limit(double *a, double b, double c) {
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if (*a < b) {
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*a = b; // 如果 a 小于下限 b，将 a 设置为 b
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} else if (*a > c) {
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*a = c; // 如果 a 大于上限 c，将 a 设置为 c
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}
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// 如果 a 在范围 [b, c] 内，不做任何修改
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}
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/* 移动向量 */
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MoveVector_t *mv;
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@ -159,5 +159,6 @@ PolarCoordinate_t addPolarVectors(PolarCoordinate_t v1, PolarCoordinate_t v2);
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uint8_t average(uint8_t arr[], uint8_t n);
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/*判断是否在误差内*/
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bool is_arrived(float target, float current, float mistake) ;
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void limit(double *a, double b, double c) ;
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#endif
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@ -68,17 +68,26 @@ static const ConfigParam_t param_chassis ={
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.go_param[0]={
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.rev = 0,
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.T=0.1,
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.T=0.79,
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.W=0.1,
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.K_P=0.1,
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.K_P=0.2,
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.K_W=0.1,
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},
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.go_param[1]={
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.rev = 0,
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.T=0.1,
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.W=0.1,
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.K_P=0.20f,
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.T=0,
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.W=0,
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.K_P=1.0f,
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.K_W=0.1,
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},
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.go1_position_param={
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.p =0.1f,
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.i =0.1f,
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.d =0.0f,
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.i_limit = 2.0f,
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.out_limit = 10.0f
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},
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/*上层其他参数*/
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/*运球*/
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@ -96,6 +105,7 @@ static const ConfigParam_t param_chassis ={
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.m2006_trigger_angle =0,
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.go1_init_position = -500,
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.go1_release_threshold =-1900,
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.m2006_Screw_init=0
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},
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112
User/Module/up.c
112
User/Module/up.c
@ -34,10 +34,10 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
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PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
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for(int i=0;i<2;i++){ //go初始位置设置为0
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GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param[i] .rev ,u->param->go_param[i] .T ,u->param->go_param[i] .W ,0,u->param->go_param [i].K_P ,u->param->go_param[i] .K_W );
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}
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PID_init (&u->pid .GO1_position ,PID_POSITION,&(u->param->go1_position_param ));
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// for(int i=0;i<2;i++){ //go初始位置设置为0
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// GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param[i] .rev ,u->param->go_param[i] .T ,u->param->go_param[i] .W ,0,u->param->go_param [i].K_P ,u->param->go_param[i] .K_W );
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// }
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// 初始化上层状态机
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@ -197,8 +197,10 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
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/*go电机控制*/
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int8_t GO_SendData(UP_t *u,int id,float pos)
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{
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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 );
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fp32 deal_pos;
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// deal_pos = PID_calc (&u->pid .GO1_position ,u->motorfeedback .GO_motor_info [0]->Pos ,pos);
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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 ,pos,u->param->go_param [id].K_P ,u->param->go_param[id] .K_W );
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return 0;
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}
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@ -215,7 +217,6 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
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GO_SendData(u,0 ,u->motor_target .go_shoot );
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GO_SendData(u,1 ,u->motor_target .go_spin);
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for(int i=0;i<4;i++){
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@ -239,7 +240,7 @@ 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 UP_RCcontrol: //在手动模式下
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@ -249,19 +250,22 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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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 .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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// /*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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// 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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@ -271,7 +275,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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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);
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Pitch_Process(u,out,c);
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break ;
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@ -305,10 +309,30 @@ return 0;
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}
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
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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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static fp32 go1_position,M2006_Screw_position ;
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static int is_initialize=1;
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if(is_initialize)
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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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is_initialize=0;
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}
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switch(u->PitchContext .PitchState){
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case PITCH_START:
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@ -317,32 +341,25 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
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if(u->motorfeedback .GO_motor_info[0]->Pos < -32.40){ //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 .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
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u->PitchContext .PitchState=PITCH_PULL_TRIGGER;//置标志位用于启动视觉辅助投篮
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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 .M2006 .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;//go下拉
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u->PitchContext.PitchState =PITCH_LAUNCHING;//转移标志位
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u->motor_target .go_shoot = go1_position;//go下拉
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u->motor_target .M3508_angle = M2006_Screw_position;//丝杠上的2006
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go1_position = go1_position + c->Vx ;
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M2006_Screw_position=M2006_Screw_position+ c->Vy;
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}
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break ;
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case PITCH_LAUNCHING:
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if(u->motorfeedback .GO_motor_info [0]->Pos >0)
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{
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// u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度发射
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u->PitchContext .PitchState =PITCH_COMPLETE;
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}
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break ;
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case PITCH_COMPLETE://完成运行动作后，恢复2006，-140度，go，pos0位置
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u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度
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u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_init_position;
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break ;
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@ -354,8 +371,29 @@ return 0;
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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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@ -55,6 +55,7 @@ typedef struct {
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fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机
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fp32 go1_init_position; // GO电机触发位置,0,初始位置
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fp32 go1_release_threshold; // go上升去合并扳机，扳机位置
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fp32 m2006_Screw_init;
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} PitchConfig_t;
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/* 投球控制上下文 */
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@ -154,6 +155,7 @@ typedef struct
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pid_param_t M3508_angle_param;
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GO_param_t go_param[2];
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pid_param_t go1_position_param;
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DribbleConfig_t DribbleConfig_Config;
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PitchConfig_t PitchConfig_Config;
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@ -242,6 +244,8 @@ typedef struct{
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pid_type_def M3508_angle;
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pid_type_def M3508_speed;
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pid_type_def GO1_position;
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}pid;
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@ -278,7 +282,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
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int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
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int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
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int8_t UP_M3508_speed(UP_t *u,fp32 speed);
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
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int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
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@ -18,7 +18,7 @@ void GO_M8010_init (void){
|
||||
for (uint8_t id= 0; id <GO_NUM ;id++)
|
||||
{
|
||||
GO_motor_info[id].id = id;
|
||||
GO_motor_info[id].mode = 1; //位置模式
|
||||
GO_motor_info[id].mode = 1; //foc闭环
|
||||
GO_motor_info[id].correct = 1;
|
||||
GO_motor_info[id].MError = 0;
|
||||
GO_motor_info[id].Temp = 0;
|
||||
@ -158,14 +158,16 @@ void GO_M8010_recv_data(uint8_t* Temp_buffer)
|
||||
int16_t W = Temp_buffer[6]<<8 | Temp_buffer[5];
|
||||
motor->W = W;
|
||||
motor->W = (motor->W * 6.28319f )/(256*6.33f);
|
||||
int32_t Pos = Temp_buffer[10]<<24 | Temp_buffer[9]<<16 | Temp_buffer[8]<<8 | Temp_buffer[7];
|
||||
motor->Pos = Pos;
|
||||
motor->Pos = (motor->Pos * 6.28319f )/(32768*6.33f);
|
||||
int32_t Pos = (Temp_buffer[7] << 0) |
|
||||
(Temp_buffer[8] << 8) |
|
||||
(Temp_buffer[9] << 16) |
|
||||
(Temp_buffer[10] << 24);
|
||||
if(Pos > 0x7FFFFFFF) Pos -= 0xFFFFFFFF; // 溢出修正
|
||||
motor->Pos = ((float)Pos / 32768.0f) * (6.28319f / 6.33f);
|
||||
int8_t Temp = Temp_buffer[11] & 0xFF;
|
||||
motor->Temp = Temp;
|
||||
motor->MError = Temp_buffer[12] & 0x7;
|
||||
|
||||
motor ->angle = AngleChange(DEGREE,motor ->Pos);
|
||||
}
|
||||
|
||||
//力位混合控制
|
||||
|
||||
@ -44,20 +44,29 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
|
||||
/*遥控器，上下层通用，按键控制，统一到cmd*/
|
||||
int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
|
||||
|
||||
|
||||
|
||||
if(cmd == NULL) return -1;
|
||||
const CMD_CtrlType_t prev_CtrlType = cmd->CMD_CtrlType ;
|
||||
const CMD_UP_mode_t prev_mode = cmd->CMD_UP_mode ;//保存旧状态
|
||||
|
||||
cmd->Vx = rc->ch_r_x;
|
||||
cmd->Vy = rc->ch_r_y;
|
||||
cmd->Vw = rc->ch_l_x;
|
||||
|
||||
cmd->poscamear = rc->ch_l_y;
|
||||
|
||||
cmd->key_ctrl_l = rc->sw_l;
|
||||
cmd->key_ctrl_r = rc->sw_r ;
|
||||
|
||||
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
|
||||
cmd->CMD_CtrlType =RELAXED;
|
||||
}
|
||||
else if(rc->sw_l==CMD_SW_UP)
|
||||
{
|
||||
cmd ->CMD_CtrlType =UP_RCcontrol;
|
||||
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
|
||||
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮，设置好的
|
||||
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 =Normal; //左上，右上，运球
|
||||
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Pitch_HAND; //左上，右上，手动调整
|
||||
}
|
||||
|
||||
else if(rc->sw_l==CMD_SW_MID)
|
||||
@ -91,3 +100,5 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -25,7 +25,8 @@ typedef enum{
|
||||
Pitch, //投篮
|
||||
|
||||
/*视觉辅助下的投篮*/
|
||||
PICK_Pitch_Normal,
|
||||
Pitch_HAND,
|
||||
|
||||
Dribbl_transfer
|
||||
}CMD_UP_mode_t;
|
||||
typedef struct {
|
||||
@ -80,7 +81,11 @@ typedef struct {
|
||||
|
||||
fp32 key_ctrl_l;
|
||||
fp32 key_ctrl_r;
|
||||
|
||||
fp32 Vx;
|
||||
fp32 Vy;
|
||||
fp32 Vw;
|
||||
fp32 poscamear;
|
||||
|
||||
/*视觉*/
|
||||
struct {
|
||||
uint8_t cmd_status;
|
||||
@ -109,5 +114,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
|
||||
|
||||
int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;
|
||||
|
||||
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) ;
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@ -68,8 +68,8 @@ void Task_up(void *argument)
|
||||
|
||||
//
|
||||
|
||||
UP_control(&UP,&UP_CAN_out,&up_cmd);
|
||||
// UP.motor_target .go_shoot =aaa;
|
||||
// UP_control(&UP,&UP_CAN_out,&up_cmd);
|
||||
UP.motor_target .go_shoot =aaa;
|
||||
// UP.motor_target .M2006_angle =bbb ;
|
||||
|
||||
// UP.motor_target .M3508_angle =CCC;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user