最终了，不大改了，改改参数就这样了
This commit is contained in:
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0aee725ece
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@ -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" -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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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<Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
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</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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@ -235,6 +235,11 @@
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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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</Ww>
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</WatchWindow1>
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<WatchWindow2>
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<Ww>
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Binary file not shown.
@ -38,14 +38,14 @@ static const ConfigParam_t param_chassis ={
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},
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.M3508_angle_param = {
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.p = 10.0f,
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.i = 0.0f,
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.d = 1.5f,
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.i = 0.5f,
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.d = 0.0f,
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.i_limit = 1000.0f,
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.out_limit = 3000.0f,
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},
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.M3508_speed_param={
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.p = 5.1f,
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.i = 0.02f,
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.p = 6.0f,
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.i = 0.0f,
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.d = 3.2f,
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.i_limit = 200.0f,
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.out_limit =6000.0f,
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@ -77,25 +77,25 @@ static const ConfigParam_t param_chassis ={
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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=0.10f,
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.K_P=0.20f,
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.K_W=0.1,
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},
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/*上层其他参数*/
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/*运球*/
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.DribbleConfig_Config = {
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.m3508_init_angle = 0,
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.m3508_high_angle = 900,
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.go2_init_angle = 35,
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.go2_flip_angle = -130,
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.m3508_init_angle = 50,
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.m3508_high_angle = 1200,
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.go2_init_angle = 0,
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.go2_flip_angle = -250,
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.flip_timing = 200,
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.release_threshold = -1.2f,
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.go2_release_threshold = -550.0f,
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},
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/*投球*/
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.PitchConfig_Config = {
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.m2006_init_angle =-140,
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.m2006_init_angle =-150,
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.m2006_trigger_angle =0,
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.go1_init_position = 0,
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.go1_release_threshold =-2050,
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.go1_init_position = -300,
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.go1_release_threshold =-1900,
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},
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135
User/Module/up.c
135
User/Module/up.c
@ -45,15 +45,13 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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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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u->DribbleContext .Dribble_run_num =0;//记录运行次数
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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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u->PitchContext .Pitch_run_num =0;//记录运行次数
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}
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@ -201,7 +199,7 @@ 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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return 0;
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return 0;
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}
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@ -246,47 +244,52 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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{
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case UP_RCcontrol: //在手动模式下
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switch (c->CMD_UP_mode )
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switch (c-> CMD_UP_mode )
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{
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case Normal :
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/*投篮*/
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u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
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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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RELAY1_TOGGLE (1);//接球，1开0关
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RELAY2_TOGGLE (1);//夹球，0关1开
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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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break;
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case Pitch :
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Pitch_Process(u,out);
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u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
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if (u->PitchContext .PitchState ==PITCH_PREPARE) //首次启动
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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);
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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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Dribble_Process(u,out);
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u->DribbleContext .DribbleState =STATE_GRAB_BALL;//置标志位用于启动运球
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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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case PICK_Pitch_START :
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Pitch_Process(u,out);
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u->PitchContext .PitchState=PITCH_START;//置标志位用于启动视觉辅助投篮
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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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@ -311,12 +314,15 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
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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_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
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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; //更改标志位
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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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}//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 <5) //当2006的总角度小于5，可以认为已经勾上
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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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@ -324,18 +330,17 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
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break ;
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case PITCH_LAUNCHING:
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if(u->motorfeedback .GO_motor_info [0]->Pos <2.0f)
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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->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 .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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u->PitchContext .Pitch_run_num ++;//运行次数+1
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break ;
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@ -349,6 +354,8 @@ 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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@ -358,17 +365,17 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
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switch (u->DribbleContext.DribbleState) {
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case STATE_GRAB_BALL://开始
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RELAY2_TOGGLE (0);//夹球
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RELAY1_TOGGLE (0);//夹球
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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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if((u->motorfeedback .M3508 .total_angle >400)) {
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RELAY1_TOGGLE (0);
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RELAY2_TOGGLE (1);
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if((u->motorfeedback.GO_motor_info[1]->angle) <-53){
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if(((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.1)&&(u->motorfeedback.M3508 .total_angle >1190)){
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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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@ -378,13 +385,13 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
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case STATE_RELEASE_BALL:
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RELAY2_TOGGLE (1);//松球
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RELAY1_TOGGLE (1);//松球
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if((u->motorfeedback.GO_motor_info[1]->angle) <-60){
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u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_init_angle ; //恢复go2位置
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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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@ -392,22 +399,25 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
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break;
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case STATE_CATCH_PREP:
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if((u->motorfeedback.GO_motor_info[1]->angle) > -0){
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u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ; //当go2到初始位置，3508降
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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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RELAY1_TOGGLE (1);//接球
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RELAY2_TOGGLE (0);//接球
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}
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if(u->motorfeedback .M3508 .total_angle <5){
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u->DribbleContext .DribbleState = STATE_CATCH_DONE;
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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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break;
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case STATE_CATCH_DONE:
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RELAY2_TOGGLE (1);//松球
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RELAY1_TOGGLE (0);
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u->DribbleContext .Dribble_run_num ++;//运行次数增加
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break;
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break ;
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default:
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break;
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@ -416,3 +426,42 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
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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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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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u->motor_target .go_spin =u->DribbleContext .DribbleConfig .go2_release_threshold ;
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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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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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break ;
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case STATE_CATCH_DONE:
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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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@ -44,7 +44,7 @@
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typedef enum {
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PITCH_PREPARE, // 准备阶段
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PITCH_START, //启动，拉扳机
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PITCH_PULL_TRIGGER, // 扳机拉动
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PITCH_PULL_TRIGGER,
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PITCH_LAUNCHING, // 发射中
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PITCH_COMPLETE // 完成
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} PitchState_t;
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@ -63,7 +63,6 @@ typedef struct {
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PitchConfig_t PitchConfig;
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uint8_t is_initialized ;
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uint8_t Pitch_run_num;
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} PitchContext_t;
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@ -80,6 +79,7 @@ typedef enum {
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STATE_RELEASE_BALL, // 释放球体
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STATE_CATCH_PREP, // 接球准备
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STATE_CATCH_BALL, // 接球动作
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STATE_TRANSFER, //转移球
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STATE_CATCH_DONE //完成
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} DribbleState_t;
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@ -90,7 +90,8 @@ typedef struct {
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fp32 go2_init_angle; // GO2初始角度
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fp32 go2_flip_angle; // GO2翻转角度
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fp32 flip_timing; // 翻转触发时机
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fp32 release_threshold; // 释放球
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// fp32
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fp32 go2_release_threshold; // 释放球
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} DribbleConfig_t;
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/* 状态机上下文 */
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@ -99,7 +100,6 @@ typedef struct {
|
||||
DribbleConfig_t DribbleConfig;
|
||||
|
||||
uint8_t is_initialized;
|
||||
uint8_t Dribble_run_num;
|
||||
|
||||
} DribbleContext_t;
|
||||
|
||||
@ -177,7 +177,7 @@ typedef struct{
|
||||
uint8_t up_task_run;
|
||||
const UP_Param_t *param;
|
||||
|
||||
int state;
|
||||
int state;
|
||||
|
||||
|
||||
|
||||
@ -260,7 +260,7 @@ typedef struct{
|
||||
|
||||
LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
|
||||
|
||||
fp32 vofa_send[8];
|
||||
fp32 vofa_send[8];
|
||||
|
||||
|
||||
|
||||
@ -282,5 +282,6 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
|
||||
|
||||
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
|
||||
|
||||
void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out);
|
||||
|
||||
#endif
|
||||
|
||||
@ -44,7 +44,10 @@ 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
|
||||
|
||||
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
|
||||
cmd->CMD_CtrlType =RELAXED;
|
||||
@ -54,7 +57,7 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
|
||||
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_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
|
||||
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左上，右上，运球
|
||||
}
|
||||
|
||||
else if(rc->sw_l==CMD_SW_MID)
|
||||
@ -74,12 +77,15 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
|
||||
}
|
||||
else if(rc->sw_l==CMD_SW_DOWN)
|
||||
{
|
||||
cmd ->CMD_CtrlType =PICK_t;
|
||||
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 =PICK_Pitch_START; //左下，右上，投篮
|
||||
cmd ->CMD_CtrlType =UP_RCcontrol;
|
||||
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Dribbl_transfer; //左下，右上，投篮
|
||||
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Dribble; //左下，右中，无模式
|
||||
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
|
||||
}
|
||||
|
||||
if (prev_CtrlType!= cmd->CMD_CtrlType ) cmd ->last_CMD_CtrlType = prev_CtrlType;
|
||||
if (prev_mode!=cmd->CMD_UP_mode ) cmd ->last_CMD_UP_mode =prev_mode;
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -26,8 +26,7 @@ typedef enum{
|
||||
|
||||
/*视觉辅助下的投篮*/
|
||||
PICK_Pitch_Normal,
|
||||
PICK_Pitch_START
|
||||
|
||||
Dribbl_transfer
|
||||
}CMD_UP_mode_t;
|
||||
typedef struct {
|
||||
uint8_t status_fromnuc;
|
||||
@ -99,7 +98,8 @@ typedef struct {
|
||||
|
||||
CMD_UP_mode_t CMD_UP_mode;
|
||||
CMD_CtrlType_t CMD_CtrlType;
|
||||
|
||||
CMD_CtrlType_t last_CMD_CtrlType;
|
||||
CMD_UP_mode_t last_CMD_UP_mode;
|
||||
|
||||
} CMD_t;
|
||||
|
||||
|
||||
@ -67,19 +67,16 @@ void Task_up(void *argument)
|
||||
|
||||
|
||||
//
|
||||
// GO_SendData(&UP, 1,CCC);
|
||||
// GO_SendData(&UP, 0,aaa);
|
||||
|
||||
UP_control(&UP,&UP_CAN_out,&up_cmd);
|
||||
// UP.motor_target .go_shoot =aaa;
|
||||
// UP.motor_target .M2006_angle =bbb ;
|
||||
|
||||
// UP_control(&UP,&UP_CAN_out,&up_cmd);
|
||||
// UP.motor_target .M3508_angle =CCC;
|
||||
// UP.motor_target .go_shoot =aaa;
|
||||
// UP.motor_target .M2006_angle =bbb;
|
||||
// UP.motor_target .go_spin =ddd;
|
||||
|
||||
//
|
||||
ALL_Motor_Control(&UP,&UP_CAN_out);
|
||||
|
||||
osDelay(1);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user