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r2上能用，有点慢，代码待优化

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This commit is contained in:
ZHAISHUI04 2025-04-02 17:07:58 +08:00
parent 6cbf728f10
commit fe1c02b130
10 changed files with 226 additions and 211 deletions
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6
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-X"Horco CMSIS-DAP" -U4626385832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -474,7 +474,7 @@
<Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -746,7 +746,7 @@
<Group>
<GroupName>Drivers/CMSIS</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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Binary file not shown.

13
User/Algorithm/user_math.c
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@ -309,3 +309,16 @@ uint8_t average(uint8_t arr[], uint8_t n) {
}
return (float) sum / n;
}
bool is_arrived(float target, float current, float mistake) {
// 计算当前值与目标值的差值的绝对值
float diff = fabs(target - current);
// 判断是否在误差范围内
if (diff <= mistake) {
return true; // 在误差范围内
} else {
return false; // 不在误差范围内
}
}

3
User/Algorithm/user_math.h
View File

@ -157,4 +157,7 @@ PolarCoordinate_t addPolarVectors(PolarCoordinate_t v1, PolarCoordinate_t v2);
/// @param n 元素数
/// @return 平均值
uint8_t average(uint8_t arr[], uint8_t n);
/*判断是否在误差内*/
bool is_arrived(float target, float current, float mistake) ;
#endif

128
User/Module/config.c
View File

@ -7,18 +7,6 @@
#define DEG_TO_RAD(x) ((x) * (3.141592653 / 180.0)) //角度转弧度
//#ifdef DEBUG
//ConfigParam_t param_up ={
//#else
//static const ConfigParam_t param_up ={
//#endif
//
//
//
//
//};
#ifdef DEBUG
@ -31,7 +19,9 @@ static const ConfigParam_t param_chassis ={
#endif
.up={
/*上层pid参数*/
.M2006_angle_param = {
.p = 25.0f,
.i = 0.0f,
@ -76,107 +66,33 @@ static const ConfigParam_t param_chassis ={
.out_limit = 3000.0f
},
.go_param={
.go_param[0]={
.rev = 0,
.T=0.1,
.W=0.1,
.K_P=0.1,
.K_W=0.1,
}
},
.go_param[1]={
.rev = 0,
.T=0.1,
.W=0.1,
.K_P=0.10f,
.K_W=0.1,
},
/*上层其他参数*/
/*运球*/
.DribbleConfig_Config = {
.m3508_init_angle = 0,
.m3508_high_angle = 900,
.go2_init_angle = 35,
.go2_flip_angle = -130,
.flip_timing = 200,
.release_threshold = -1.2f,
},
},
// .chassis = {/**/
// .C6020pitAngle_param = {
// .p = 15.0f,
// .i = 0.3f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f,
// },
// .C6020pitOmega_param = {
// .p =30.0f,
// .i =0.3f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_yawAngle_param = {
// .p =8.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_yawOmega_param = {
// .p =18.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_pitchAngle_param = {
// .p =8.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
//
// .Gimbal_pitchOmega_param = {
// .p =18.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 200.0f,
// .out_limit = 3000.0f
// },
// .AngleCor_param = {
// .p =0.8f,
// .i =0.0f,
// .d =1.0f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
//
// .OmegaCor_param = {
// .p =23.5f,
// .i =0.0f,
// .d =0.05f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
//
// .ImuCor_param = {
// .p =95.0f,
// .i =0.0f,
// .d =0.0f,
// .i_limit = 0.0f,
// .out_limit =200.0f,
// },
//
// .DisCamera_param = {
// .p =80.0f,
// .i =0.1f,
// .d =0.0f,
// .i_limit = 0.0f,
// .out_limit =5000.0f,
// },
// .M3508_param = {
// .p = 15.1f,
// .i = 0.02f,
// .d = 3.2f,
// .i_limit = 200.0f,
// .out_limit =6000.0f,
// }
//
// },
.can = {
.pitch6020 = BSP_CAN_1,

170
User/Module/up.c
View File

@ -23,10 +23,11 @@
/*运球*/
#define M3508_INIT_ANGLE (0) //3508
#define M3508_HIGH_ANGLE (1000) //3508，升起角度
#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 (150) //go2翻转角度
#define BALL_REL_TIME (1.76) //球放开时机，以go的反馈值为准
#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)
@ -51,18 +52,19 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
for(int i=0;i<2;i++){ //go初始位置设置为0
GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );
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 );
}
RELAY1_TOGGLE (0);
RELAY2_TOGGLE (0);
// 初始化状态机
if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机
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 .is_initialized = 1;
}
/**/
u->state .Dribble_flag =Not_started_dri;
u->state. Pitch_flag=Not_started_Pit;
u->state .last_state = Not_started_dri;
}
@ -96,7 +98,7 @@ 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*/
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;
int8_t cnt=0;
fp32 angle ,delta;
switch(motor)
@ -204,7 +206,7 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
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 .rev ,u->param->go_param .T ,u->param->go_param .W ,AngleChange(RADIAN,pos),u->param->go_param .K_P ,u->param->go_param .K_W );
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 );
}
@ -278,35 +280,40 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
case Normal :
u->state .Pitch_flag =Not_started_Pit;
u->state .last_state = Not_started_Pit;
u->Oper_control_state .Pitch_flag =Not_started_Pit;
u->Oper_control_state .last_state = Not_started_Pit;
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
break;
case Pitch_pull :
if(u->state .last_state == Not_started_Pit)
if(u->Oper_control_state .last_state == Not_started_Pit)
{
<<<<<<< Updated upstream
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
>>>>>>> Stashed changes
{
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->state .Pitch_flag = Launch_Ready ;
u->state .last_state = Launch_Ready;
u->Oper_control_state .Pitch_flag = Launch_Ready ;
u->Oper_control_state .last_state = Launch_Ready;
}
@ -315,12 +322,12 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
break ;
case Pitch_shoot :
if (u->state .last_state == Launch_Ready)
if (u->Oper_control_state .last_state == Launch_Ready)
{
u->motor_target .M2006_angle =M2006_INIT_ANGLE;
u->state .Pitch_flag = Done_Pit ;
u->state .last_state = Done_Pit;
u->Oper_control_state .Pitch_flag = Done_Pit ;
u->Oper_control_state .last_state = Done_Pit;
}
@ -334,28 +341,12 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
case Dribble:
{
// u->motor_target.M3508_angle = M3508_HIGH_ANGLE;
// if(u->motorfeedback .M3508 .total_angle >GO2_Flip_timing){
// u->motor_target .go_spin = GO2_Flip_ANGLE ;
//
// if(u->motorfeedback .GO_motor_info[2]->Pos > BALL_REL_TIME )
// {
// RELAY1_TOGGLE (0);
// RELAY2_TOGGLE (1);
//
//
// }
//
// }
//
// RELAY1_TOGGLE (0);
// RELAY2_TOGGLE (0);
}
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);
}break ;
@ -383,39 +374,68 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
}
int8_t Dribble_Process(UP_t *u,CAN_Output_t *out,CMD_t *c)
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
{
switch (u->DribbleContext.DribbleState) {
case STATE_GRAB_BALL://开始
RELAY2_TOGGLE (0);//夹球
u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起
u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_flip_angle;
if(u ==NULL) return 0;
switch (c->CMD_UP_mode)
if((u->motorfeedback .M3508 .total_angle >400)) {
RELAY1_TOGGLE (0);
case Dribble:
{
RELAY1_TOGGLE (1);
RELAY2_TOGGLE (0);
u->motor_target.M3508_angle = M3508_HIGH_ANGLE;
if(u->motorfeedback .M3508 .total_angle >GO2_Flip_timing){
u->motor_target .go_spin = GO2_Flip_ANGLE ;
if((u->motorfeedback .GO_motor_info[2]->Pos) > BALL_REL_TIME )
{
RELAY1_TOGGLE (0);
osDelay (10);
RELAY2_TOGGLE (1);
}
if((u->motorfeedback.GO_motor_info[1]->angle) <-53){
u->DribbleContext .DribbleState = STATE_RELEASE_BALL; //当go2到标准位置，标志位改变
}
}
break;
case STATE_RELEASE_BALL:
RELAY2_TOGGLE (1);//松球
if((u->motorfeedback.GO_motor_info[1]->angle) <-60){
u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_init_angle ; //恢复go2位置
u->DribbleContext .DribbleState = STATE_CATCH_PREP; //当go2到标准位置，标志位改变
}
break;
case STATE_CATCH_PREP:
if((u->motorfeedback.GO_motor_info[1]->angle) > -0){
u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ; //当go2到初始位置，3508降
RELAY1_TOGGLE (1);//接球
}
if(u->motorfeedback .M3508 .total_angle <5){
u->DribbleContext .DribbleState = STATE_CATCH_DONE;
}
break;
case STATE_CATCH_DONE:
RELAY2_TOGGLE (1);//松球
RELAY1_TOGGLE (0);
break;
default:
break;
}
return 0;
}

99
User/Module/up.h
View File

@ -14,7 +14,38 @@
#include "GO_M8010_6_Driver.h"
#include "bsp_usart.h"
/*
状态机
状态结构体，触发标志位结构体
配置层，-->config.c
|
中间层，-->up.h,统一UP_t
|
运行函数，switch(状态) 运行相应函数
*/
typedef enum
{
@ -25,25 +56,42 @@ typedef enum
}Pitch_flag_t;
typedef enum{
/*运球*/
typedef enum {
STATE_GRAB_BALL, // 夹球升起阶段
STATE_RELEASE_BALL, // 释放球体
STATE_CATCH_PREP, // 接球准备
STATE_CATCH_BALL, // 接球动作
STATE_CATCH_DONE //完成
} DribbleState_t;
/* 参数配置结构体 */
typedef struct {
fp32 m3508_init_angle; // 3508初始角度
fp32 m3508_high_angle; // 3508升起角度
fp32 go2_init_angle; // GO2初始角度
fp32 go2_flip_angle; // GO2翻转角度
fp32 flip_timing; // 翻转触发时机
fp32 release_threshold; // 释放球
} DribbleConfig_t;
/* 状态机上下文 */
typedef struct {
DribbleState_t DribbleState;
DribbleConfig_t DribbleConfig;
uint8_t is_initialized;
Not_started_dri=0,//未开始
No_ball =1, //抓上无球
Have_ball_F=2, //刚开始有球
Have_ball_S=3, //中途有球
Done_dri =4 //已完成
}Dribble_flag_t;
} DribbleContext_t;
/*运行控制中的控制*/
typedef struct{
/*投球过程*/
Pitch_flag_t Pitch_flag;
/*运球过程*/
Dribble_flag_t Dribble_flag;
int last_state;
char last_state;
} Oper_control_state_t;
@ -76,8 +124,7 @@ typedef struct {
/*角度环控制电机类型*/
typedef enum {
M2006 = 1,
M3508
M3508
} MotorType_t;
@ -97,7 +144,9 @@ typedef struct
pid_param_t M3508_speed_param;
pid_param_t M3508_angle_param;
GO_param_t go_param;
GO_param_t go_param[2];
DribbleConfig_t DribbleConfig_Config;
}UP_Param_t;
@ -119,11 +168,22 @@ typedef struct{
uint8_t up_task_run;
const UP_Param_t *param;
int state;
/*运球过程*/
DribbleContext_t DribbleContext;
UP_Imu_t pos088;
/*控制及状态*/
CMD_t *cmd;
Oper_control_state_t state;//上层机构的运行状态
Oper_control_state_t Oper_control_state;//上层机构的运行状态
struct{
fp32 rotor_pit6020ecd;
@ -172,8 +232,8 @@ typedef struct{
pid_type_def M2006_angle;
pid_type_def M2006_speed;
pid_type_def M3508_angle;
pid_type_def M3508_speed;
pid_type_def M3508_angle;
pid_type_def M3508_speed;
}pid;
@ -211,6 +271,7 @@ 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 Dribble_Process(UP_t *u, CAN_Output_t *out);
#endif

1
User/device/GO_M8010_6_Driver.c
View File

@ -165,6 +165,7 @@ void GO_M8010_recv_data(uint8_t* Temp_buffer)
motor->Temp = Temp;
motor->MError = Temp_buffer[12] & 0x7;
motor ->angle = AngleChange(DEGREE,motor ->Pos);
}
//力位混合控制

4
User/device/GO_M8010_6_Driver.h
View File

@ -64,11 +64,13 @@ typedef struct {
float T;
float W;
float Pos;
float angle;
int footForce;
uint8_t buffer[17];
uint8_t Rec_buffer[16];
ControlData_t motor_send_data;
}GO_Motorfield;

13
User/task/up_task.c
View File

@ -69,18 +69,17 @@ void Task_up(void *argument)
//
// GO_SendData(&UP, 1,CCC);
// GO_SendData(&UP, 0,aaa);
<<<<<<< Updated upstream
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;
// UP.motor_target .M3508_angle =CCC;
// UP.motor_target .go_shoot =aaa;
// UP.motor_target .M2006_angle =bbb;
// UP.motor_target .go_spin =ddd;
>>>>>>> Stashed changes
ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1);