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base: LYL:5de502c448574bea3876fc53dc8901801c4f042e
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LYL:main
LYL:new-branch
LYL:up_try
LYL:up_branch
LYL:JIAXING_UP
LYL:xiaomi
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compare: LYL:fe1c02b130b3cc1048eabbfbe75db9b483b25863
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LYL:new-branch
LYL:up_try
LYL:up_branch
LYL:JIAXING_UP
LYL:main
LYL:xiaomi

3 Commits
5de502c448 ... fe1c02b130

Author SHA1 Message Date
ZHAISHUI04
fe1c02b130 r2上能用，有点慢，代码待优化 2025-04-02 17:07:58 +08:00
ZHAISHUI04
6cbf728f10 恢复stash 2025-03-31 16:17:10 +08:00
ZHAISHUI04
1488098d60 3.30更改的暂存区丢失，这个修改了部分，处于可用状态，但不完善 2025-03-31 16:13:20 +08:00
15 changed files with 336 additions and 199 deletions
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28
AUTO_CHASSIS.ioc
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@ -145,23 +145,24 @@ Mcu.Pin24=PA4
Mcu.Pin25=PC4 Mcu.Pin25=PC4
Mcu.Pin26=PC5 Mcu.Pin26=PC5
Mcu.Pin27=PE9 Mcu.Pin27=PE9
Mcu.Pin28=PA7 Mcu.Pin28=PE11
Mcu.Pin29=PB0 Mcu.Pin29=PA7
Mcu.Pin3=PB3 Mcu.Pin3=PB3
Mcu.Pin30=VP_CRC_VS_CRC Mcu.Pin30=PB0
Mcu.Pin31=VP_FREERTOS_VS_CMSIS_V2 Mcu.Pin31=VP_CRC_VS_CRC
Mcu.Pin32=VP_SYS_VS_Systick Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2
Mcu.Pin33=VP_TIM4_VS_ClockSourceINT Mcu.Pin33=VP_SYS_VS_Systick
Mcu.Pin34=VP_TIM7_VS_ClockSourceINT Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
Mcu.Pin35=VP_TIM10_VS_ClockSourceINT Mcu.Pin35=VP_TIM7_VS_ClockSourceINT
Mcu.Pin36=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS Mcu.Pin36=VP_TIM10_VS_ClockSourceINT
Mcu.Pin37=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
Mcu.Pin4=PA14 Mcu.Pin4=PA14
Mcu.Pin5=PA13 Mcu.Pin5=PA13
Mcu.Pin6=PB7 Mcu.Pin6=PB7
Mcu.Pin7=PB6 Mcu.Pin7=PB6
Mcu.Pin8=PD0 Mcu.Pin8=PD0
Mcu.Pin9=PC11 Mcu.Pin9=PC11
Mcu.PinsNb=37 Mcu.PinsNb=38
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
Mcu.UserName=STM32F407IGHx Mcu.UserName=STM32F407IGHx
@ -272,9 +273,14 @@ PD14.GPIOParameters=GPIO_Label
PD14.GPIO_Label=Buzzer PD14.GPIO_Label=Buzzer
PD14.Locked=true PD14.Locked=true
PD14.Signal=S_TIM4_CH3 PD14.Signal=S_TIM4_CH3
PE11.GPIOParameters=PinState,GPIO_PuPd
PE11.GPIO_PuPd=GPIO_PULLDOWN
PE11.Locked=true
PE11.PinState=GPIO_PIN_SET
PE11.Signal=GPIO_Output
PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
PE9.GPIO_Label=FlagForUpper PE9.GPIO_Label=FlagForUpper
PE9.GPIO_PuPd=GPIO_PULLUP PE9.GPIO_PuPd=GPIO_PULLDOWN
PE9.Locked=true PE9.Locked=true
PE9.PinState=GPIO_PIN_SET PE9.PinState=GPIO_PIN_SET
PE9.Signal=GPIO_Output PE9.Signal=GPIO_Output

2
Core/Inc/stm32f4xx_hal_conf.h
View File

@ -190,7 +190,7 @@
#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ #define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */
#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ #define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */
#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ #define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */
#define USE_HAL_UART_REGISTER_CALLBACKS 1U /* UART register callback disabled */ #define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */
#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ #define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */
#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ #define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */

10
Core/Src/gpio.c
View File

@ -61,7 +61,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(FlagForUpper_GPIO_Port, FlagForUpper_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(GPIOE, FlagForUpper_Pin|GPIO_PIN_11, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */ /*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
@ -92,12 +92,12 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */ /*Configure GPIO pins : PEPin PE11 */
GPIO_InitStruct.Pin = FlagForUpper_Pin; GPIO_InitStruct.Pin = FlagForUpper_Pin|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(FlagForUpper_GPIO_Port, &GPIO_InitStruct); HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pin : PtPin */ /*Configure GPIO pin : PtPin */
GPIO_InitStruct.Pin = GYRO_CS_Pin; GPIO_InitStruct.Pin = GYRO_CS_Pin;

4
Core/Src/main.c
View File

@ -79,7 +79,8 @@ int main(void)
/* MCU Configuration--------------------------------------------------------*/ /* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. * HAL_Init(); /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */ /* USER CODE BEGIN Init */
@ -94,7 +95,6 @@ int main(void)
/* Initialize all configured peripherals */ /* Initialize all configured peripherals */
MX_GPIO_Init(); MX_GPIO_Init();
MX_DMA_Init(); MX_DMA_Init();
MX_SPI1_Init(); MX_SPI1_Init();
MX_TIM4_Init(); MX_TIM4_Init();

11
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -140,7 +140,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <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>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -235,6 +235,11 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>flaggg,0x0A</ItemText> <ItemText>flaggg,0x0A</ItemText>
</Ww> </Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>ddd</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2> <WatchWindow2>
<Ww> <Ww>
@ -469,7 +474,7 @@
<Group> <Group>
<GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName> <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -741,7 +746,7 @@
<Group> <Group>
<GroupName>Drivers/CMSIS</GroupName> <GroupName>Drivers/CMSIS</GroupName>
<tvExp>0</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <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; 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 /// @param n 元素数
/// @return 平均值 /// @return 平均值
uint8_t average(uint8_t arr[], uint8_t n); 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 #endif

151
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 #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 #ifdef DEBUG
@ -31,7 +19,9 @@ static const ConfigParam_t param_chassis ={
#endif #endif
.up={ .up={
/*上层pid参数*/
.M2006_angle_param = { .M2006_angle_param = {
.p = 25.0f, .p = 25.0f,
.i = 0.0f, .i = 0.0f,
@ -46,6 +36,21 @@ static const ConfigParam_t param_chassis ={
.i_limit = 2000.0f, .i_limit = 2000.0f,
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
.M3508_angle_param = {
.p = 10.0f,
.i = 0.0f,
.d = 1.5f,
.i_limit = 1000.0f,
.out_limit = 3000.0f,
},
.M3508_speed_param={
.p = 5.1f,
.i = 0.02f,
.d = 3.2f,
.i_limit = 200.0f,
.out_limit =6000.0f,
},
.UP_GM6020_angle_param={ .UP_GM6020_angle_param={
.p = 30.0f, .p = 30.0f,
.i = 20.0f, .i = 20.0f,
@ -60,114 +65,34 @@ static const ConfigParam_t param_chassis ={
.i_limit = 200.0f, .i_limit = 200.0f,
.out_limit = 3000.0f .out_limit = 3000.0f
}, },
.M3508_speed_param={
.p = 15.1f, .go_param[0]={
.i = 0.02f,
.d = 3.2f,
.i_limit = 200.0f,
.out_limit =6000.0f,
},
.go_param={
.rev = 0, .rev = 0,
.T=0.1, .T=0.1,
.W=0.1, .W=0.1,
.K_P=0.1, .K_P=0.1,
.K_W=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 = { .can = {
.pitch6020 = BSP_CAN_1, .pitch6020 = BSP_CAN_1,

185
User/Module/up.c
View File

@ -11,11 +11,26 @@
#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度 #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 #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)
int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
{ {
@ -37,14 +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 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 );
} }
/**/
u->state .Dribble_flag =Not_started_dri; // 初始化状态机
u->state. Pitch_flag=Not_started_Pit; if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机
u->state .last_state = Not_started_dri; 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;
}
} }
@ -78,7 +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*/ /*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) { int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
// 获取当前编码器角度 // 获取当前编码器角度
int8_t cnt=0; int8_t cnt=0;
fp32 angle ,delta; fp32 angle ,delta;
switch(motor) switch(motor)
@ -186,7 +206,7 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
int8_t GO_SendData(UP_t *u,int id,float pos) 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 );
} }
@ -201,7 +221,7 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
GO_SendData(u,0 ,u->motor_target .go_shoot ); GO_SendData(u,0 ,u->motor_target .go_shoot );
GO_SendData(u,1 ,u->motor_target .go_spin); GO_SendData(u,1 ,u->motor_target .go_spin);
@ -250,7 +270,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{ {
if(u ==NULL) return 0; if(u ==NULL) return 0;
if(u ==NULL) return 0;
switch (c->CMD_CtrlType ) switch (c->CMD_CtrlType )
{ {
@ -261,29 +280,40 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
case Normal : case Normal :
u->state .Pitch_flag =Not_started_Pit; u->Oper_control_state .Pitch_flag =Not_started_Pit;
u->state .last_state = Not_started_Pit; u->Oper_control_state .last_state = Not_started_Pit;
u->motor_target .go_shoot =0; u->motor_target .go_shoot =0;
u->motor_target .M2006_angle =-140; 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; break;
case Pitch_pull : case Pitch_pull :
if(u->state .last_state == Not_started_Pit) if(u->Oper_control_state .last_state == Not_started_Pit)
{ {
u->motor_target .go_shoot =-300;
u->motor_target .go_shoot =-2050;
u->motor_target .M2006_angle =-140; u->motor_target .M2006_angle =-140;
if(u->motorfeedback .GO_motor_info[0]->Pos < (-4.8)) //到达位置后再扣扳机 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 =0; u->motor_target .M2006_angle =M2006_INIT_ANGLE;
if(u->motorfeedback .M2006.total_angle>-5) if(u->motorfeedback .M2006.total_angle>-5)
{//避免没勾上就拉 {//避免没勾上就拉
u->motor_target .go_shoot =0; u->motor_target .go_shoot =GO1_INIT_POSITION;
u->state .Pitch_flag = Launch_Ready ; u->Oper_control_state .Pitch_flag = Launch_Ready ;
u->state .last_state = Launch_Ready; u->Oper_control_state .last_state = Launch_Ready;
} }
@ -292,35 +322,46 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
break ; break ;
case Pitch_shoot : case Pitch_shoot :
if (u->state .last_state == Launch_Ready) if (u->Oper_control_state .last_state == Launch_Ready)
{ {
u->motor_target .M2006_angle =-140; u->motor_target .M2006_angle =M2006_INIT_ANGLE;
u->state .Pitch_flag = Done_Pit ; u->Oper_control_state .Pitch_flag = Done_Pit ;
u->state .last_state = Done_Pit; u->Oper_control_state .last_state = Done_Pit;
} }
{
}
break; 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 ;
} }
break; break;
case MID_NAVI :
{
}
break ;
case PICK_t :
{
}
break;
default: default:
break; break;
@ -334,5 +375,67 @@ 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)
{
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->motorfeedback .M3508 .total_angle >400)) {
RELAY1_TOGGLE (0);
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 "GO_M8010_6_Driver.h"
#include "bsp_usart.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 typedef enum
{ {
@ -25,25 +56,42 @@ typedef enum
}Pitch_flag_t; }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 } DribbleContext_t;
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;
/*运行控制中的控制*/ /*运行控制中的控制*/
typedef struct{ typedef struct{
/*投球过程*/ /*投球过程*/
Pitch_flag_t Pitch_flag; Pitch_flag_t Pitch_flag;
/*运球过程*/
Dribble_flag_t Dribble_flag; char last_state;
int last_state;
} Oper_control_state_t; } Oper_control_state_t;
@ -76,8 +124,7 @@ typedef struct {
/*角度环控制电机类型*/ /*角度环控制电机类型*/
typedef enum { typedef enum {
M2006 = 1, M2006 = 1,
M3508 M3508
} MotorType_t; } MotorType_t;
@ -97,7 +144,9 @@ typedef struct
pid_param_t M3508_speed_param; pid_param_t M3508_speed_param;
pid_param_t M3508_angle_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; }UP_Param_t;
@ -119,11 +168,22 @@ typedef struct{
uint8_t up_task_run; uint8_t up_task_run;
const UP_Param_t *param; const UP_Param_t *param;
int state;
/*运球过程*/
DribbleContext_t DribbleContext;
UP_Imu_t pos088; UP_Imu_t pos088;
/*控制及状态*/ /*控制及状态*/
CMD_t *cmd; 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{ struct{
fp32 rotor_pit6020ecd; fp32 rotor_pit6020ecd;
@ -172,8 +232,8 @@ typedef struct{
pid_type_def M2006_angle; pid_type_def M2006_angle;
pid_type_def M2006_speed; pid_type_def M2006_speed;
pid_type_def M3508_angle; pid_type_def M3508_angle;
pid_type_def M3508_speed; pid_type_def M3508_speed;
}pid; }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_M2006_angle(UP_t *u,fp32 target_angle);
int8_t UP_M3508_speed(UP_t *u,fp32 speed); int8_t UP_M3508_speed(UP_t *u,fp32 speed);
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
#endif #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->Temp = Temp;
motor->MError = Temp_buffer[12] & 0x7; motor->MError = Temp_buffer[12] & 0x7;
motor ->angle = AngleChange(DEGREE,motor ->Pos);
} }
//力位混合控制 //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 T;
float W; float W;
float Pos; float Pos;
float angle;
int footForce; int footForce;
uint8_t buffer[17]; uint8_t buffer[17];
uint8_t Rec_buffer[16]; uint8_t Rec_buffer[16];
ControlData_t motor_send_data; ControlData_t motor_send_data;
}GO_Motorfield; }GO_Motorfield;

13
User/device/cmd.c
View File

@ -61,9 +61,16 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
{ {
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_CtrlType =MID_NAVI;; //左中，右上，雷达 if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_CtrlType =MID_NAVI;; //左中，右上，雷达
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左中，右中，无模式 if(rc->sw_r ==CMD_SW_MID)
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左中，右上，运球 {
cmd ->CMD_CtrlType =UP_RCcontrol;
cmd ->CMD_UP_mode =Normal; //左中，右中，无模式
}
if(rc->sw_r ==CMD_SW_DOWN)
{
cmd ->CMD_UP_mode =Dribble; //左中，右上，运球
cmd ->CMD_CtrlType =UP_RCcontrol;
}
} }
else if(rc->sw_l==CMD_SW_DOWN) else if(rc->sw_l==CMD_SW_DOWN)
{ {

11
User/task/up_task.c
View File

@ -34,6 +34,7 @@ static CMD_t up_cmd;
float aaa=0; float aaa=0;
float bbb=0; float bbb=0;
float CCC=0; float CCC=0;
float ddd=0;
/** /**
@ -68,7 +69,17 @@ void Task_up(void *argument)
// //
// GO_SendData(&UP, 1,CCC); // GO_SendData(&UP, 1,CCC);
// GO_SendData(&UP, 0,aaa); // GO_SendData(&UP, 0,aaa);
UP_control(&UP,&UP_CAN_out,&up_cmd); 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); ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1); osDelay(1);