506 lines
13 KiB
C
506 lines
13 KiB
C
#include "up.h"
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#include "gpio.h"
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#include "user_math.h"
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#include "bsp_buzzer.h"
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#include "bsp_delay.h"
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#define GEAR_RATIO_2006 (36) // 2006减速比
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#define GEAR_RATIO_3508 (19)
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#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
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#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
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#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
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// 定义继电器控制
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#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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#define RELAY2_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
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int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
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{
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u->param = param; /*初始化参数 */
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/*go电机初始化*/
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GO_M8010_init();
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/*pid初始化*/
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PID_init (&u->pid.VESC_5065_M1 ,PID_POSITION ,&(u->param ->VESC_5065_M1_param ));
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PID_init (&u->pid.VESC_5065_M2 ,PID_POSITION ,&(u->param ->VESC_5065_M2_param ));
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PID_init (&u->pid .M2006_angle ,PID_POSITION ,&(u->param->M2006_angle_param ));
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PID_init (&u->pid .M2006_speed ,PID_POSITION ,&(u->param->M2006_speed_param ));
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PID_init (&u->pid .M3508_angle ,PID_POSITION ,&(u->param->M3508_angle_param ));
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PID_init (&u->pid .M3508_speed ,PID_POSITION ,&(u->param->M3508_speed_param ));
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PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
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PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
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PID_init (&u->pid .GO1_position ,PID_POSITION,&(u->param->go1_position_param ));
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// for(int i=0;i<2;i++){ //go初始位置设置为0
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// 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 );
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// }
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// 初始化上层状态机
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if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
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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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}
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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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}
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}
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/*can，上层状态更新*/
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int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
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for(int i=0;i<2;i++){ //go初始位置设置为0
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u->motorfeedback .GO_motor_info [i] = getGoPoint(i);
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}
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u->motorfeedback .M2006 .motor =M2006;
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u->motorfeedback .M3508 .motor =M3508;
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u->motorfeedback .VESC_5065_M1_rpm =can ->motor .chassis5065 .as_array [0].rotor_speed ;
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u->motorfeedback .VESC_5065_M2_rpm =can ->motor .chassis5065 .as_array [1].rotor_speed ;
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u->motorfeedback .rotor_pit6020ecd =can ->motor .chassis6020.as_array [2].rotor_ecd ;
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u->motorfeedback .rotor_pit6020rpm =can ->motor .chassis6020.as_array [2].rotor_speed ;
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for(int i=0;i<4;i++){
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u->motorfeedback .M3508_rpm[i] =can ->motor .motor3508 .as_array [i].rotor_speed ;
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u->motorfeedback .M3508_angle [i]=can ->motor .motor3508 .as_array [i].rotor_ecd ;
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}
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u->cmd =c;
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return 0;
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}
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/*上层大疆电机角度控制,使用can1的id1和2*/
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int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
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// 获取当前编码器角度
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int8_t cnt=0;
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fp32 angle ,delta;
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switch(motor)
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{
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case M2006 :
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angle = u->motorfeedback.M3508_angle[0];
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if (u->motorfeedback .M2006 .init_cnt < 50) {
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u->motorfeedback .M2006.orig_angle = angle; // 记录初始编码器值
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u->motorfeedback .M2006.last_angle = angle;
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u->motorfeedback .M2006.init_cnt++; // 初始化计数器递增
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return 0;
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}
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delta = angle - u->motorfeedback .M2006.last_angle;
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delta = angle - u->motorfeedback .M2006.last_angle;
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if (delta > 4096) {
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u->motorfeedback .M2006.round_cnt--; // 逆时针跨圈
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} else if (delta < -4096) {
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u->motorfeedback .M2006.round_cnt++; // 顺时针跨圈
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}
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u->motorfeedback.M2006.last_angle = angle;
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// 计算总角度
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float total_angle = (u->motorfeedback.M2006 .round_cnt * 8191 + (angle - u->motorfeedback.M2006.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
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u->motorfeedback.M2006.total_angle =total_angle;
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float delta_angle = PID_calc(&u->pid.M2006_angle, total_angle, target_angle);
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float delta_speed = PID_calc(&u->pid.M2006_speed, u->motorfeedback.M3508_rpm [0], delta_angle);
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u->motor_target.M2006_angle = target_angle;
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u->final_out .final_3508out [0] =delta_speed;
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break ;
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case M3508 :
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angle = u->motorfeedback.M3508_angle[1];
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if (u->motorfeedback .M3508 .init_cnt < 50) {
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u->motorfeedback .M3508.orig_angle = angle; // 记录初始编码器值
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u->motorfeedback .M3508.last_angle = angle;
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u->motorfeedback .M3508.init_cnt++; // 初始化计数器递增
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return 0;
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}
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delta = angle - u->motorfeedback .M3508.last_angle;
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delta = angle - u->motorfeedback .M3508.last_angle;
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if (delta > 4096) {
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u->motorfeedback .M3508.round_cnt--; // 逆时针跨圈
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} else if (delta < -4096) {
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u->motorfeedback .M3508.round_cnt++; // 顺时针跨圈
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}
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u->motorfeedback.M3508.last_angle = angle;
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// 计算总角度
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total_angle = (u->motorfeedback.M3508 .round_cnt * 8191 + (angle - u->motorfeedback.M3508.orig_angle)) * MOTOR2006_ECD_TO_ANGLE;
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u->motorfeedback.M3508.total_angle =total_angle;
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delta_angle = PID_calc(&u->pid.M3508_angle , total_angle, target_angle);
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delta_speed = PID_calc(&u->pid.M3508_speed , u->motorfeedback.M3508_rpm [1], delta_angle);
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u->motor_target.M3508_angle = target_angle;
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u->final_out .final_3508out[1] =delta_speed;
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break ;
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}
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return 0;
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}
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//int8_t UP_M3508_speed(UP_t *u,fp32 speed)
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//{
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// u->motor_target .M3508_speed [] =speed;
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// for(int i=0;i<3;i++){
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// u->final_out .final_3508out [i] =
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// PID_calc (&(u->pid .M3508_speed[i] ),u->motorfeedback .M3508_speed [i],speed );
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// }
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//
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//}
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int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
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{
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u->motor_target .VESC_5065_M1_rpm =speed;
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u->motor_target .VESC_5065_M2_rpm =speed;
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u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
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u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
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return 0;
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}
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int8_t GM6020_control(UP_t *u,fp32 angle)
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{
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fp32 delat_speed;
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// Clip(&angle,90,270);
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delat_speed =
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PID_calc (&(u->pid .GM6020_angle ),u->motorfeedback .rotor_pit6020ecd ,(angle /360*8191));
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u->final_out .final_pitchout =
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PID_calc (&(u->pid .GM6020_speed ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
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u->motor_target .rotor_pit6020angle =angle ;
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return 0;
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}
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/*go电机控制*/
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int8_t GO_SendData(UP_t *u,int id,float pos)
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{
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fp32 deal_pos;
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// deal_pos = PID_calc (&u->pid .GO1_position ,u->motorfeedback .GO_motor_info [0]->Pos ,pos);
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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 ,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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}
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int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
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{
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//电机控制 ，传进can
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UP_angle_control(u,u->motor_target .M2006_angle ,M2006);
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UP_angle_control(u,u->motor_target .M3508_angle ,M3508 );
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GO_SendData(u,0 ,u->motor_target .go_shoot );
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for(int i=0;i<4;i++){
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out ->motor3508 .as_array[i]=u->final_out.final_3508out [i] ;
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}
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out ->chassis5065 .erpm [0]= u->final_out .final_VESC_5065_M1out ;
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out ->chassis5065 .erpm [1]= -u->final_out .final_VESC_5065_M2out ;
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out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
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return 0;
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}
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int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
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{
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if(u ==NULL) return 0;
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static int is_pitch=1;
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switch (c->CMD_CtrlType )
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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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{
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case Normal :
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/*投篮*/
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if(is_pitch){
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u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
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is_pitch=0;
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}
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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);//夹球，0夹1开
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// RELAY2_TOGGLE (0);//球，0接1收
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//
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break;
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case Pitch :
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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,c);
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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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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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Dribbl_transfer_a(u,out);
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}
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break;
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default:
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break;
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}
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return 0;
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}
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int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
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{
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static fp32 go1_position,M2006_Screw_position ;
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static int is_initialize=1;
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if(is_initialize)
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{
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go1_position=u->PitchContext .PitchConfig .go1_init_position ;
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M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
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is_initialize=0;
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}
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switch(u->PitchContext .PitchState){
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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 < -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;
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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 >-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 = go1_position;//go下拉
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u->motor_target .M3508_angle = M2006_Screw_position;//丝杠上的2006
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go1_position = go1_position + c->Vx ;
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M2006_Screw_position=M2006_Screw_position+ c->Vy;
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}
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break ;
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}
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return 0;
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}
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int8_t Dribble_Process(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_GRAB_BALL://开始
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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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RELAY2_TOGGLE (1);
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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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}
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break;
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case STATE_RELEASE_BALL:
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RELAY1_TOGGLE (1);//松球
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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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break;
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case STATE_CATCH_PREP:
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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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RELAY2_TOGGLE (0);//接球
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}
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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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break ;
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default:
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break;
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}
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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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{
|
||
RELAY1_TOGGLE (1);//夹球，0夹1开
|
||
|
||
if(u->motorfeedback .GO_motor_info [1]->Pos > -4.8)
|
||
{
|
||
u->DribbleContext .DribbleState = STATE_CATCH_DONE; //当go2到标准位置，标志位改变
|
||
}
|
||
}
|
||
|
||
|
||
break ;
|
||
|
||
case STATE_CATCH_DONE:
|
||
|
||
RELAY1_TOGGLE (1);//夹球，0夹1开
|
||
RELAY2_TOGGLE (0);//夹球，0接1收
|
||
|
||
u->motor_target.go_spin=u->DribbleContext .DribbleConfig.go2_init_angle ;
|
||
|
||
break;
|
||
|
||
break;
|
||
|
||
}
|
||
}
|