202 lines
5.0 KiB
C++
202 lines
5.0 KiB
C++
#include "TopDefine.h"
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#include "shoot.hpp"
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#include "main.h"
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#include "remote_control.h"
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#include "FreeRTOS.h"
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#include <cmsis_os2.h>
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#include "calc_lib.h"
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#include "vofa.h"
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extern RC_ctrl_t rc_ctrl;
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NUC_t nuc_v;
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float vofa[8];
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#define SHOOT_SPEED 30500
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#define SHOOT_SPEED_BACK -2500
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#define Error 50
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int triggerspeed = -5000; // 扳机速度
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int test_speed =34700;
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float test_distance =3.6;
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float xxx;
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#define STOP 0
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int Torque = -5000; // 扳机恒力
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#define Trigger_Torque -5000
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#define Trigger_Slow 2000//扳机慢速 不用加负号
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//sw[7]👆 1694 中 1000 👇306
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//sw[2]👆 1694 👇306
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//E键 sw[1]👆 200 shoot 中 1000 stop 👇1800 error
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//F键 sw[0]👆 1800 开 👇200 关
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//B键 sw[3]👆 200 开 👇1800 关
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const fp32 Shoot:: M2006_speed_PID[3] = {50, 0, 0};
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int t=0;
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Shoot::Shoot()
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{
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//扳机初始化
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trigger_Motor= get_motor_point(4);
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trigger_Motor->type=M2006;
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PID_init(&speed_pid,PID_POSITION,M2006_speed_PID,8000, 1000);//pid初始化
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t_speedSet = 0;
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result = 0;
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//发射摩擦轮
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motor_5065[0] = get_vesc_point(0);//获取电机数据指针
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motor_5065[1] = get_vesc_point(1);//获取电机数据指针
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speed_5065=0;
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currentState= SHOOT_IDLE;
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}
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void Shoot::trigger_control()
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{
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// result = PID_calc(&speed_pid,trigger_Motor->speed_rpm,t_speedSet);
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CAN_cmd_1FF(result,0,0,0,&hcan1);
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}
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void Shoot::shootStop()
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{
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speed_5065=STOP;
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result=STOP;//扳机慢速归位
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}
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void Shoot::errorControl()
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{
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result=Trigger_Slow;//扳机慢速归位
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speed_5065=SHOOT_SPEED_BACK; //摩擦归位
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}
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void Shoot :: distanceGet(const NUC_t &nuc_v)
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{
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test_distance=nuc_v.vision.z;
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}
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void Shoot::vesc_send()
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{
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CAN_VESC_Control(1, speed_5065, &hcan2);
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}
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void Shoot::vofaWatch()
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{
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vofa[0] = motor_5065[1]->rotor_speed;
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vofa[1] = motor_5065[0]->rotor_speed; // 发送电机速度数据
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vofa[2] = speed_5065; // 发送电机速度数据
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vofa[4] = trigger_Motor->speed_rpm; // 发送扳机电机速度数据
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vofa_tx_main(vofa); // 发送数据到虚拟串口
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}
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void Shoot::shootStateMachine() {
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xxx=polynomial(test_distance);
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distance =test_distance;
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switch (currentState) {
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case SHOOT_IDLE: {
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speed_5065=STOP;
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t_speedSet=STOP;
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// 空闲状态，等待遥控器输入
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if((rc_ctrl.sw[1]==200)) {
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currentState = SHOOT_READY; // 切换到发射状态
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}
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break;
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}
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case SHOOT_READY:
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{
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// 发射状态，控制电机发射
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speed_5065 = test_speed;
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// speed_5065 =polynomial(distance);
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if(motor_5065[0]->rotor_speed>=speed_5065-Error && motor_5065[0]->rotor_speed<=speed_5065+Error &&
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motor_5065[1]->rotor_speed>=speed_5065-Error && motor_5065[1]->rotor_speed<=speed_5065+Error)
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{
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if((rc_ctrl.sw[3]==1800)) {
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currentState = SHOOT_FIRE; // 切换到发射状态
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}
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}
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break;
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}
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case SHOOT_FIRE: {
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t_speedSet=triggerspeed;// 扳机速度影响？
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// 检测光电传感器是否触发
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if (IS_PHOTOELECTRIC_TRIGGERED()) {
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currentState = SHOOT_BACK; // 切换到光电触发状态
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}
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break;
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}
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case SHOOT_BACK: {
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// 光电触发状态，停止发射
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t_speedSet=STOP;
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speed_5065=STOP;
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// 切换到返回状态
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currentState = SHOOT_RETURN;
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break;
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}
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case SHOOT_RETURN: {
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// 自动返回状态，控制电机反转
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speed_5065=SHOOT_SPEED_BACK;
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t_speedSet=2000;
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// 检测返回完成（可以通过时间或其他传感器判断）
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if (rc_ctrl.sw[1]==1000) { // 假设遥控器开关控制返回完成
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speed_5065=SHOOT_SPEED_BACK;
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t_speedSet=STOP;
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currentState = SHOOT_IDLE; // 切换回空闲状态
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}
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break;
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}
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default: {
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// 默认状态，回到空闲
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currentState = SHOOT_IDLE;
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break;
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}
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}
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result = PID_calc(&speed_pid,trigger_Motor->speed_rpm,t_speedSet);
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// CAN_VESC_Control(1,speed_5065,&hcan2);
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}
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//MATLAB拟合函数
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float polynomial(float x) {
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return 1185.3918f * powf(x, 5.0f)
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+ -45876.846f * powf(x, 4.0f)
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+ 517061.22f * powf(x, 3.0f)
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+ -2567947.4f * powf(x, 2.0f)
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+ 5954537.4f * x
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+ -5258769.0f;
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}
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float polynomial2(float x) {
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return 49162.7402f * powf(x, 5.0f)
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+ -917344.6015f * powf(x, 4.0f)
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+ 6840516.5228f * powf(x, 3.0f)
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+ -25479457.6038f * powf(x, 2.0f)
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+ 47406744.9129f * x
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+ -35217628.5565f;
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}
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// float polynomial(float x) {
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// return 1185.3918*pow(x,5) + -45876.846*pow(x,4) + 517061.22*pow(x,3) + -2567947.4*pow(x,2) + 5954537.4*x + -5258769;
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// }
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