110 lines
1.8 KiB
C
110 lines
1.8 KiB
C
|
||
|
||
#ifndef _CMD_H
|
||
#define _CMD_H
|
||
#include "struct_typedef.h"
|
||
#include "device.h"
|
||
|
||
|
||
#define MID (0x09)
|
||
#define PICK (0x06)
|
||
|
||
typedef enum{
|
||
UP_RCcontrol,//遥控器控制，左按键上，控制上层
|
||
MID_NAVI,//雷达导航
|
||
PICK_t,
|
||
RELAXED,//异常模式
|
||
|
||
}CMD_CtrlType_t;
|
||
|
||
typedef enum{
|
||
|
||
|
||
Normal, //无模式
|
||
Dribble , //运球
|
||
Pitch , //投篮
|
||
|
||
}CMD_UP_mode_t;
|
||
typedef struct {
|
||
uint8_t status_fromnuc;
|
||
uint8_t ctrl_status; //取其中每一个二进制位用作通信
|
||
struct
|
||
{
|
||
fp32 vx;
|
||
fp32 vy;
|
||
fp32 wz;
|
||
}navi;
|
||
struct
|
||
{
|
||
fp32 posx;
|
||
fp32 posy;
|
||
fp32 posw;
|
||
}pick;
|
||
struct
|
||
{
|
||
fp32 angle;
|
||
}sick_cali;
|
||
} CMD_NUC_t;
|
||
/* 拨杆位置 */
|
||
typedef enum {
|
||
CMD_SW_ERR = 0,
|
||
CMD_SW_UP = 1,
|
||
CMD_SW_MID = 3,
|
||
CMD_SW_DOWN = 2,
|
||
} CMD_SwitchPos_t;
|
||
|
||
/*遥控器值，使用CMD_RcLogic函数传入CMD_t结构体*/
|
||
typedef struct {
|
||
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
|
||
float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
|
||
float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
|
||
float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
|
||
|
||
float ch_res; /* 第五通道值 */
|
||
|
||
CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
|
||
CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
|
||
|
||
|
||
uint16_t key; /* 按键值 */
|
||
|
||
uint16_t res; /* 保留，未启用 */
|
||
|
||
} __attribute__((packed))CMD_RC_t;
|
||
|
||
typedef struct {
|
||
|
||
|
||
fp32 key_ctrl_l;
|
||
fp32 key_ctrl_r;
|
||
|
||
/*视觉*/
|
||
struct {
|
||
uint8_t cmd_status;
|
||
uint8_t raw_status;
|
||
uint8_t status[7];
|
||
struct
|
||
{
|
||
fp32 posx;
|
||
fp32 posy;
|
||
fp32 posw;
|
||
}pick;
|
||
|
||
}NAVI_t;
|
||
|
||
|
||
CMD_UP_mode_t CMD_UP_mode;
|
||
CMD_CtrlType_t CMD_CtrlType;
|
||
|
||
|
||
} CMD_t;
|
||
|
||
|
||
/*nuc数据统一到cmd*/
|
||
int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);
|
||
|
||
int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;
|
||
|
||
#endif
|
||
|