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优化发射

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This commit is contained in:
ZHAISHUI04 2025-04-22 22:48:37 +08:00
parent a632125bbd
commit 730b703842
5 changed files with 69 additions and 68 deletions
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BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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8
User/Module/config.c
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@ -76,11 +76,11 @@ static const ConfigParam_t param_chassis ={
}, },
/*投球*/ /*投球*/
.PitchConfig_Config = { .PitchConfig_Config = {
.m2006_init_angle =-150, .m2006_init_angle =-170,
.m2006_trigger_angle =0, .m2006_trigger_angle =0,
.go1_init_position = 0, .go1_init_position = -50,
.go1_release_threshold =0, .go1_release_threshold =-210,
.m2006_Screw_init=0 .m2006_Screw_init=0,
}, },

122
User/Module/up.c
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@ -120,7 +120,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
} }
int aaaaaaaaaaa=1;
/*go电机控制*/ /*go电机控制*/
@ -130,17 +130,17 @@ int8_t GO_SendData(UP_t *u, float pos, float limit)
static int is_calibration=0; static int is_calibration=0;
static fp32 error=0; //误差量 static fp32 error=0; //误差量
GO_MotorData_t *GO_calibration;//校准前，原始数据 // GO_MotorData_t *GO_calibration;//校准前，原始数据
GO_calibration = get_GO_measure_point() ; u->motorfeedback .go_data = get_GO_measure_point() ;
if(is_calibration==0) // if(is_calibration==0)
{ // {
is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 ); // is_calibration=HAL_GPIO_ReadPin (GPIOE ,GPIO_PIN_9 );
u->go_cmd.Pos = -50; //上电之后跑 // u->go_cmd.Pos = -50; //上电之后跑
error= GO_calibration->Pos ; // error= GO_calibration->Pos ;
} // }
u->motorfeedback .go_data = GO_calibration; // u->motorfeedback .go_data = GO_calibration;
u->motorfeedback .go_data ->Pos= error ; // u->motorfeedback .go_data ->Pos= error ;
u->go_cmd.Pos = pos; // u->go_cmd.Pos = pos;
// 读取参数 // 读取参数
float tff = u->go_cmd.T; // 前馈力矩 float tff = u->go_cmd.T; // 前馈力矩
@ -181,7 +181,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
&u->pid .Pitch_M2006_angle , &u->pid .Pitch_M2006_angle ,
&u->pid .Pitch_M2006_speed , &u->pid .Pitch_M2006_speed ,
u->motor_target .Pitch_M2006_angle ); u->motor_target .Pitch_M2006_angle );
GO_SendData(u,u->motor_target .go_shoot,1 ); GO_SendData(u,u->motor_target .go_shoot,5 );
for(int i=0;i<4;i++){ for(int i=0;i<4;i++){
@ -218,8 +218,8 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
is_pitch=0; is_pitch=0;
} }
// u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
// u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
// /*运球*/ // /*运球*/
// u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ; // u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
@ -234,12 +234,12 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
break; break;
case Pitch : case Pitch :
if (u->PitchContext .PitchState ==PITCH_PREPARE) //首次启动 if (u->PitchContext .PitchState ==PITCH_PREPARE)
{ {
u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
} }
// Pitch_Process(u,out,c); Pitch_Process(u,out,c);
break ; break ;
@ -256,7 +256,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
}break ; }break ;
case Dribbl_transfer: case Dribbl_transfer:
break ;
// Dribbl_transfer_a(u,out); // Dribbl_transfer_a(u,out);
} }
break; break;
@ -286,52 +286,52 @@ return 0;
//int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c) int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
//{ {
// static fp32 go1_position,M2006_Screw_position ; static fp32 go1_position,M2006_Screw_position ;
// static int is_initialize=1; static int is_initialize=1;
// if(is_initialize) if(is_initialize)
// { {
// go1_position=u->PitchContext .PitchConfig .go1_init_position ; go1_position=u->PitchContext .PitchConfig .go1_init_position ;
// M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init; M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
// is_initialize=0; is_initialize=0;
// } }
// switch(u->PitchContext .PitchState){ 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 < -32.40){ //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_START:
// case PITCH_PULL_TRIGGER: u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
//
//
// 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
// {
// u->motor_target .go_shoot = go1_position;//go下拉
// u->motor_target .M3508_angle = M2006_Screw_position;//丝杠上的2006
// go1_position = go1_position + c->Vx ;
// M2006_Screw_position=M2006_Screw_position+ c->Vy;
//
//
// }
//
// break ;
// 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
// u->motor_target .Shoot_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
//return 0;
// break ;
//} case PITCH_PULL_TRIGGER:
if(u->motorfeedback .DJmotor_feedback [0].total_angle >-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
{
u->motor_target .go_shoot = go1_position;//go下拉
u->motor_target .Pitch_M2006_angle = M2006_Screw_position;//丝杠上的2006
go1_position = go1_position + c->Vx ;
M2006_Screw_position=M2006_Screw_position+ c->Vy;
}
break ;
}
return 0;
}

1
User/Module/up.h
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@ -228,6 +228,7 @@ 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 ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle); int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
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); 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);
int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);
#endif #endif

6
User/task/up_task.c
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@ -68,9 +68,9 @@ void Task_up(void *argument)
// //
// UP_control(&UP,&UP_CAN_out,&up_cmd); UP_control(&UP,&UP_CAN_out,&up_cmd);
UP.motor_target .Pitch_M2006_angle =aaa; // UP.motor_target .go_shoot =aaa;
// UP.motor_target .M2006_angle =bbb ; // UP.motor_target .Shoot_M2006_angle =bbb ;
// UP.motor_target .M3508_angle =CCC; // UP.motor_target .M3508_angle =CCC;
// UP.motor_target .go_shoot =aaa; // UP.motor_target .go_shoot =aaa;