diff --git a/User/device/detect.c b/User/device/detect.c
index f4c3961..2775d38 100644
--- a/User/device/detect.c
+++ b/User/device/detect.c
@@ -24,7 +24,7 @@ void detect_init(void)
{
BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit);
- BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led);
+ //BSP_GPIO_RegisterCallback(ext_up_Pin, detect_led);
// 注册按键中断回调函数
if (BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit) != BSP_OK) {
// 错误处理
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index f22788d..eb2fc65 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -53,28 +53,18 @@
(ptr)->offset_ecd = (ptr)->ecd; \
}
- void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
+ static void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
{
- // 检查接收到的ID是否匹配我们期望的VESC状态消息ID
- if (rx_header->ExtId == CAN_VESC5065_M1_MSG1) // 电机 1 的消息 ID
- {
+ // 检查接收到的ID是否匹配我们期望的VESC状态消息ID
// 提取数据字段
feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
feedback->torque_current /= 1000; // 将单位从 0.1A 转换为实际电流值
feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
feedback->duty_cycle /= 1000.0f; // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
- }
- else if (rx_header->ExtId == CAN_VESC5065_M1_MSG1) // 电机 2 的消息 ID
- {
- // 提取数据字段
- feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
- feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
- feedback->torque_current /= 1000; // 将单位从 0.1A 转换为实际电流值
- feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
- feedback->duty_cycle /= 1000.0f; // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
- }
+
}
+
#if DEBUG == 1
//电机回传数据结构体
@@ -98,6 +88,8 @@ uint8_t rx_data[8];
static CAN_TxHeaderTypeDef vesc_tx_message;
static uint8_t vesc_send_data[4];
+
+CAN_RawTx_t raw_tx;
/**
* @brief 数据处理函数
* @param[in] none
@@ -298,6 +290,48 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD
return &motor_chassis[i];
}
+ int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan)
+ {
+
+ uint32_t send_mail_box;
+ int Byte[4];
+ Vesc_ByteGet raw[4];
+
+ //将期望的四个电机输出值分别对应到四个联合体 为了下面的拆分字节
+ raw[0].as_array = speed;
+ raw[1].as_array = speed;
+
+ for(int i=0 ; i < 2 ; i ++)
+ {
+
+ //将单个电机的期望输出值通过联合体拆分
+ Byte[0] = raw[i].byte.byte1;
+ Byte[1] = raw[i].byte.byte2;
+ Byte[2] = raw[i].byte.byte3;
+ Byte[3] = raw[i].byte.byte4;
+
+ raw_tx.tx_header.ExtId = id+i+CAN_VESC_CTRL_ID_BASE;
+ raw_tx.tx_header.IDE = CAN_ID_EXT;
+ raw_tx.tx_header.RTR = CAN_RTR_DATA;
+ raw_tx.tx_header.DLC = CAN_MOTOR_TX_BUF_SIZE;
+
+ raw_tx.tx_data[0] = Byte[3];
+ raw_tx.tx_data[1] = Byte[2];
+ raw_tx.tx_data[2] = Byte[1];
+ raw_tx.tx_data[3] = Byte[0];
+ raw_tx.tx_data[4] = 0;
+ raw_tx.tx_data[5] = 0;
+ raw_tx.tx_data[6] = 0;
+ raw_tx.tx_data[7] = 0;
+
+ HAL_CAN_AddTxMessage(hcan, &raw_tx.tx_header, raw_tx.tx_data, &send_mail_box);
+ }
+
+return DEVICE_OK;
+
+}
+
+
/**
* @brief 限制vesc电机转速
* @param[in/out] rpm: vesce电机转速
diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h
index 9fc5b66..982e1e2 100644
--- a/User/device/djiMotor.h
+++ b/User/device/djiMotor.h
@@ -7,6 +7,7 @@ extern "C"{
#define FREERTOS_DJI 1
#include "struct_typedef.h"
+#include "device.h"
#include "can.h"
#include <math.h>
@@ -17,6 +18,21 @@ typedef enum{
M2006 = 2
}motor_type_e;
+typedef union{
+ int as_array;
+ struct{
+ int8_t byte1;
+ int8_t byte2;
+ int8_t byte3;
+ int8_t byte4;
+ }byte;
+}Vesc_ByteGet;
+
+typedef struct {
+ CAN_TxHeaderTypeDef tx_header;
+ uint8_t tx_data[8];
+} CAN_RawTx_t;
+
enum{
M3508_1 = 0x201,
M3508_2 = 0x202,
@@ -60,6 +76,9 @@ typedef struct {
#define wtrcfg_VESC_COMMAND_ERPM_MAX 55000 //限速
#define CAN_VESC_CTRL_ID_BASE (0x300)
+#define CAN_MOTOR_TX_BUF_SIZE (8)
+#define CAN_MOTOR_RX_BUF_SIZE (8)
+
//rm motor data
typedef struct
{
@@ -146,6 +165,8 @@ void CAN_VESC_RPM(uint8_t controller_id, float RPM);
void CAN_VESC_HEAD(uint8_t controller_id);
+int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan);
+
#ifdef __cplusplus
}
#endif
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index c49c11e..0b31659 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -15,6 +15,8 @@ ShootState_t currentState = SHOOT_IDLE;
Shoot::Shoot()
{
+ // motor_5065[0] = get_5065_motor_point(0);//获取电机数据指针
+ // motor_5065[1] = get_5065_motor_point(1);//获取电机数据指针
CAN_VESC_RPM(1, STOP);
CAN_VESC_RPM(2, STOP);
@@ -25,15 +27,28 @@ void Shoot::shootThree()
if((rc_ctrl.sw[1]>500))
{
speed_5065 = map((float)rc_ctrl.sw[1],500,1694,30000,45000);
- CAN_VESC_RPM(1, speed_5065);
- CAN_VESC_RPM(2, speed_5065);
+
+ // CAN_VESC_RPM(1, speed_5065);
+ // CAN_VESC_RPM(2, speed_5065);
}
else
{
- CAN_VESC_RPM(1, STOP);
- CAN_VESC_RPM(2, STOP);
+ speed_5065=STOP;
+ // CAN_VESC_Control(1,STOP,&hcan2);
+ // CAN_VESC_RPM(1, STOP);
+ // CAN_VESC_RPM(2, STOP);
}
-
+ if(rc_ctrl.sw[5]==1694)
+ {
+ speed_5065=SHOOT_SPEED_BACK;
+ // CAN_VESC_Control(1,SHOOT_SPEED_BACK,&hcan2);
+ // CAN_VESC_RPM(1, SHOOT_SPEED_BACK);
+ // CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
+
+ }
+ //CAN_VESC_Control(1,speed_5065,&hcan2);
+ CAN_VESC_RPM(1, speed_5065);
+ CAN_VESC_RPM(2, speed_5065);
}
void Shoot::shootBack()
@@ -42,7 +57,7 @@ void Shoot::shootBack()
{
CAN_VESC_RPM(1, SHOOT_SPEED_BACK);
- CAN_VESC_RPM(2, -5000);
+ CAN_VESC_RPM(2, SHOOT_SPEED_BACK);
}
}
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 62a23c3..89cea5a 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -26,12 +26,7 @@ public:
float speed_5065;
private:
-
- float accelLeft;
- float accelRight;
- float accelZero;
- uint8_t flagRightShoot;
- uint8_t flagLeftShoot;
+ CAN_MotorFeedback_t *motor_5065[2];
};
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index 7e92bd8..57cf53c 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -26,7 +26,7 @@ while(1)
#endif
shoot.shootThree();
- shoot.shootBack();
+ //shoot.shootBack();
osDelay(2);