From 1f404b793f875cd643ebce4d5b29960fde8bbea3 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Wed, 26 Mar 2025 14:54:23 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0vesc?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/device/djiMotor.c | 83 ++++++++++++- User/device/djiMotor.h | 58 +++++++++- User/device/remote_control.c | 219 ++++------------------------------- User/lib/calc_lib.c | 24 ++-- User/lib/user_math.c | 23 ++++ User/lib/user_math.h | 16 +++ User/module/shoot.c | 55 --------- User/module/shoot.h | 17 +-- User/task/attrTask.c | 2 +- User/task/can_task.c | 2 +- User/task/dji_task.c | 21 +--- User/task/initTask.c | 2 +- User/task/shoot_task.c | 33 +----- 13 files changed, 228 insertions(+), 327 deletions(-) diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c index cbb5947..fc4db36 100644 --- a/User/device/djiMotor.c +++ b/User/device/djiMotor.c @@ -25,6 +25,10 @@ #include "odrive_can.h" + +static CAN_TxHeaderTypeDef vesc_tx_message; +static uint8_t vesc_send_data[4]; + #endif //motor data read @@ -75,10 +79,37 @@ // (ptr)->speed_rpm = (float)((data)[4] << 4 | (data)[5] <<3 |(data)[6] < 2 |(data)[7]);; \ // } /*(ptr)->real_angle = (ptr)->real_angle % 360; */ - +static void CAN_VescMotor_Decode_1(CAN_MotorFeedback_t *feedback, + const uint8_t *raw) +{ + if (feedback == NULL || raw == NULL) return; + union + { + int x; + uint8_t data[4]; + }speed; + + speed.data[0]= raw[3]; + speed.data[1]= raw[2]; + speed.data[2]= raw[1]; + speed.data[3]= raw[0]; + feedback->rotor_speed = speed.x; + union + { + int16_t y; + uint8_t dat[2]; + }current; + current.dat[0]= raw[5]; + current.dat[1]= raw[4]; + feedback->torque_current =(fp32)current.y/10; +} + + #if DEBUG == 1 motor_measure_t motor_chassis[5]; +CAN_MotorFeedback_t motor_6384; + #else static motor_measure_t motor_chassis[5]; #endif @@ -129,6 +160,22 @@ void djiMotorEncode() } } } + +void vescMotorEncode() +{ + switch (dji_rx_header.ExtId) { + + case CAN_VESC5065_M1_MSG1: + // 存储消息到对应的电机结构体中 + CAN_VescMotor_Decode_1(&motor_6384, dji_rx_data); + break; + + default: + break; + } + +} + #if FREERTOS_DJI == 0 /** * @brief hal库CAN回调函数,接收电机数据 @@ -256,6 +303,14 @@ void CAN_cmd_2FF(int16_t motor1, int16_t motor2, int16_t motor3, CAN_HandleTypeD HAL_CAN_AddTxMessage(hcan, &tx_meessage_2ff, can_send_data_2ff, &send_mail_box); } +/************************************** + * 限幅函数 + **************************************/ +void assert_param_rpm(float *rpm){ + if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX ) + *rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ; +} + /** * @brief 返回电机数据指针 * @param[in] i: 电机编号 @@ -266,3 +321,29 @@ motor_measure_t *get_motor_point(uint8_t i) return &motor_chassis[i]; } +/* +用转速模式控制电机 +输入参数是controller_id（我用的是65，这个可以在上位机找到）和RPM（1000-50000之间的数） +*/ +void CAN_VESC_RPM(uint8_t controller_id, float RPM) +{ + uint32_t id; + int32_t data; + uint32_t send_mail_box; + + id = controller_id | ((uint32_t)CAN_PACKET_SET_RPM << 8); + assert_param_rpm(&RPM); + data = (int32_t)(RPM); + + vesc_tx_message.ExtId = id; + vesc_tx_message.IDE = CAN_ID_EXT; + vesc_tx_message.RTR = CAN_RTR_DATA; + vesc_tx_message.DLC = 0x04; + vesc_send_data[0] = data >> 24 ; + vesc_send_data[1] = data >> 16 ; + vesc_send_data[2] = data >> 8 ; + vesc_send_data[3] = data ; + + HAL_CAN_AddTxMessage(&hcan1, &vesc_tx_message, vesc_send_data, &send_mail_box); +} + diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h index c07c14d..490b452 100644 --- a/User/device/djiMotor.h +++ b/User/device/djiMotor.h @@ -8,7 +8,10 @@ extern "C"{ #include "struct_typedef.h" #include "can.h" -#include "odrive_can.h" +#include + +#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000 +#define CAN_VESC_CTRL_ID_BASE (0x300) typedef enum{ GM6020 = 0, @@ -44,6 +47,56 @@ typedef struct int16_t last_ecd; } odrive_measure_t; +/* 电机反馈信息 */ +typedef struct { + float rotor_ecd; + float rotor_speed; + float torque_current; + float temp; +} CAN_MotorFeedback_t; + +typedef enum { + CAN_PACKET_SET_DUTY = 0, + CAN_PACKET_SET_CURRENT = 1, + CAN_PACKET_SET_CURRENT_BRAKE =2, + CAN_PACKET_SET_RPM = 3, + CAN_PACKET_SET_POS = 4, + CAN_PACKET_FILL_RX_BUFFER = 5, + CAN_PACKET_FILL_RX_BUFFER_LONG = 6, + CAN_PACKET_PROCESS_RX_BUFFER = 7, + CAN_PACKET_PROCESS_SHORT_BUFFER = 8, + CAN_PACKET_STATUS = 9, + CAN_PACKET_SET_CURRENT_REL = 10, + CAN_PACKET_SET_CURRENT_BRAKE_REL = 11, + CAN_PACKET_SET_CURRENT_HANDBRAKE = 12, + CAN_PACKET_SET_CURRENT_HANDBRAKE_REL = 13 +} CAN_PACKET_ID; + +typedef enum { + CAN_M3508_M1_ID = 0x201, /* 1 */ + CAN_M3508_M2_ID = 0x202, /* 2 */ + CAN_M3508_M3_ID = 0x203, /* 3 */ + CAN_M3508_M4_ID = 0x204, /* 4 */ + + CAN_G6020_AgvM1 =0x205, + CAN_G6020_AgvM2 =0x206, + CAN_G6020_AgvM3 =0x207, + CAN_G6020_AgvM4 =0x208, + + CAN_SICK_ID=0x301, + + CAN_G6020_Pitch =0x209, + + // CAN_VESC5065_M1 =0x211, //vesc的数据指令使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型 + // CAN_VESC5065_M2 =0x212, + // CAN_VESC5065_M3 =0x213, + // CAN_VSEC5065_M4 =0x214, + + CAN_VESC5065_M1_MSG1 =0x90a, //vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型 + CAN_VESC5065_M2_MSG1 =0x90b, + +// +} CAN_MotorId_t; //motor calc ecd to angle @@ -109,6 +162,9 @@ extern motor_measure_t *get_motor_point(uint8_t i); * @retval none */ void djiMotorEncode(void); +void vescMotorEncode(void); + +void CAN_VESC_RPM(uint8_t controller_id, float RPM); #ifdef __cplusplus } diff --git a/User/device/remote_control.c b/User/device/remote_control.c index 40dbe10..592163a 100644 --- a/User/device/remote_control.c +++ b/User/device/remote_control.c @@ -3,203 +3,7 @@ extern UART_HandleTypeDef huart3; extern DMA_HandleTypeDef hdma_usart3_rx; -#if FREERTOS == 0 -static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl); -static int map(int x, int in_min, int in_max, int out_min, int out_max); -RC_ctrl_t rc_ctrl; -static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH]; -//串口dma双缓冲区初始化 - -#if FREERTOS == 0 -//串口中断 -void USART3_IRQHandler(void) -{ - //have received data - if(huart3.Instance->SR & UART_FLAG_RXNE) - { - //如果是接收中断则通过读取dr寄存器清零 - __HAL_UART_CLEAR_FEFLAG(&huart3); - } - if(USART3->SR & UART_FLAG_IDLE) - { - //使用清除pe标志位的函数是因为pe idle等几个中断都是靠先读取sr再读取dr清零的 - static uint16_t this_time_rx_len = 0; - __HAL_UART_CLEAR_PEFLAG(&huart3); - - if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET) - { - //current memory buffer used is memory0 - - //disable dma to change dma register - __HAL_DMA_DISABLE(&hdma_usart3_rx); - - //get received data length, length = set_data_length - remain_length - this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR; - - //reset set_data_length - hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM; - - //change memory0 to memory1 - hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT; - - //enable dma - __HAL_DMA_ENABLE(&hdma_usart3_rx); - - //1 frame length is correct data - if(this_time_rx_len == RC_FRAME_LENGTH) - { - sbus_to_rc(sbus_rx_buf[0], &rc_ctrl); - } - } - else - { - __HAL_DMA_DISABLE(&hdma_usart3_rx); - - this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR; - - hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM; - - //change memory1 to memory0 - DMA1_Stream1->CR &= ~(DMA_SxCR_CT); - - __HAL_DMA_ENABLE(&hdma_usart3_rx); - - if(this_time_rx_len == RC_FRAME_LENGTH) - { - sbus_to_rc(sbus_rx_buf[1], &rc_ctrl); - } - } - } -} -#else -//如果打开了freertos，则只进行任务通知 -void USART3_IRQHandler(void) -{ - -} -#endif - -void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num); - -void remote_control_init(void) -{ -// BSP_UART_RegisterCallback(BSP_UART_DR16,BSP_UART_IDLE_LINE_CB,DR16_IDLE_CB);//还没有移入嘉宁的架构，待测试 - RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH); - -} - - -static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl) -{ - if (sbus_buf == NULL || rc_ctrl == NULL) - { - return; - } - - rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff; //Channel 1 - rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2 - rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) | //Channel 3 - (sbus_buf[5] << 10)) &0x07ff; - rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4 - - rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF; //Channel 5 - rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF; //Channel 6 - rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;; //Channel 7 - rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF; //Channel 8 - rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF; //Channel 9 - rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF; //Channel 10 - rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF; //Channel 11 - rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF; //Channel 12 - - - rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306); - rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306); - rc_ctrl->ch[1] = map(rc_ctrl->ch[1],-693,694,-700,700); //x - rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-694,693,-700,700); //y - - //死区(-30,30) - if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<6) rc_ctrl->ch[0]=0; - if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<-10) rc_ctrl->ch[1]=0; - if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=7) rc_ctrl->ch[2]=7; - if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<-2) rc_ctrl->ch[3]=0; - -} - - - -int map(int x, int in_min, int in_max, int out_min, int out_max) //映射函数 -{ - return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; -} - - -/* - - - - -306 306 - sw[] sw[7] -1694 1694 - -306 306 -sw[6] sw[4] -1694 1694 - -306 306 306 306 -sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3] -1694 1694 1694 1694 - 710 - 688 1425 - | | - | | - 54 -616------ch[3]770 -354---------ch[0] 339 0 - | | - | | - ch[2] ch[1] - _699 38 -*/ - - -void RC_init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num) -{ - - //enable the dma transfer for the receiver request - SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR); - - //enable idle interrupt - __HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE); - - //disable dma, to change the dma register - __HAL_DMA_DISABLE(&hdma_usart3_rx); - - while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN) - { - __HAL_DMA_DISABLE(&hdma_usart3_rx); - } - - hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR); - - //memory buffer 1 - hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf); - - //momory buffer 2 - hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf); - - //data length - hdma_usart3_rx.Instance->NDTR = dma_buf_num; - - //enable double memory buffer - SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM); - - - //enable dma - __HAL_DMA_ENABLE(&hdma_usart3_rx); - -} - -#else //DMA双缓冲区+串口空闲中断 static osEventFlagsId_t eventReceive; @@ -351,5 +155,26 @@ RC_data_t* get_rc_data() return &RC_mess.RC_data; } +/* + +306 306 + sw[] sw[7] +1694 1694 + +306 306 +sw[6] sw[4] +1694 1694 -#endif +306 306 306 306 +sw[0] sw[2] sw[1]:306-1694 sw[5]:306-1694 sw[]1000 sw[3] +1694 1694 1694 1694 + 710 + 688 1425 + | | + | | + 54 -616------ch[3]770 -354---------ch[0] 339 0 + | | + | | + ch[2] ch[1] + _699 38 +*/ diff --git a/User/lib/calc_lib.c b/User/lib/calc_lib.c index 16b2c0e..3a901de 100644 --- a/User/lib/calc_lib.c +++ b/User/lib/calc_lib.c @@ -1,6 +1,6 @@ #include "calc_lib.h" -//΢ʱ +//?? void user_delay_us(uint16_t us) { for(; us > 0; us--) @@ -12,7 +12,7 @@ void user_delay_us(uint16_t us) } } -//ʱ +//?? void user_delay_ms(uint16_t ms) { for(; ms > 0; ms--) @@ -21,7 +21,7 @@ void user_delay_ms(uint16_t ms) } } -//Χ +//?????????????????? void abs_limit_fp(fp32 *num, fp32 Limit) { if (*num > Limit) @@ -34,7 +34,7 @@ void abs_limit_fp(fp32 *num, fp32 Limit) } } -//Χ +//?????????????????? void abs_limit_int(int64_t *num, int64_t Limit) { if (*num > Limit) @@ -47,7 +47,7 @@ void abs_limit_int(int64_t *num, int64_t Limit) } } -//ѭ޷ +//?????? Input ??? minValue ? maxValue ?? fp32 loop_fp32_constrain(fp32 Input, fp32 minValue, fp32 maxValue) { if (maxValue < minValue) @@ -101,12 +101,22 @@ int32_t loop_int32_constrain(int32_t Input, int32_t minValue, int32_t maxValue) return Input; } -int map(int x, int in_min, int in_max, int out_min, int out_max) //ӳ亯 +/** + * @brief ?????? + * + * @param x ??? + * @param in_min ???????? + * @param in_max ???????? + * @param out_min ???????? + * @param out_max ???????? + * @return ??????? + */ +int map(int x, int in_min, int in_max, int out_min, int out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } -fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max) //ӳ亯 +fp32 map_fp32(fp32 x, fp32 in_min, fp32 in_max, fp32 out_min, fp32 out_max) { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } diff --git a/User/lib/user_math.c b/User/lib/user_math.c index b51d2b5..91f5a45 100644 --- a/User/lib/user_math.c +++ b/User/lib/user_math.c @@ -112,3 +112,26 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) { /* 不为裁判系统设定值时,计算转速 */ return 60.0f * (float)bullet_speed / (M_2PI * fric_radius); } + + +/** + * @brief 角度单位转换 + * + * @param[in] hopetype: 需要转换的角度单位 + * @param[in] angle: 需要转换的角度值 + * @return 转换后的角度值 + */ +fp32 AngleChange(Angle_e hopetype,fp32 angle) +{ + fp32 hope_angle; + if(hopetype==DEGREE) + { + hope_angle = angle*180/M_PI; //弧度制转角度制 + } + else if(hopetype ==RADIAN) + { + hope_angle = angle*M_PI/180; //角度值转弧度制 + } + return hope_angle; + +} diff --git a/User/lib/user_math.h b/User/lib/user_math.h index c0677f2..a22c8ae 100644 --- a/User/lib/user_math.h +++ b/User/lib/user_math.h @@ -14,6 +14,7 @@ extern "C" { #include #include #include +#include "struct_typedef.h" #define M_DEG2RAD_MULT (0.01745329251f) #define M_RAD2DEG_MULT (57.2957795131f) @@ -47,6 +48,12 @@ typedef struct { float wz; /* 转动 */ } MoveVector_t; +//定义获取角度的量纲 +typedef enum { + DEGREE,//0-360 + RADIAN,//(0-2pi) +}Angle_e; + float InvSqrt(float x); float AbsClip(float in, float limit); @@ -101,6 +108,15 @@ void CircleReverse(float *origin); */ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm); +/** + * @brief 角度单位转换 + * + * @param[in] hopetype: 需要转换的角度单位 + * @param[in] angle: 需要转换的角度值 + * @return 转换后的角度值 + */ +fp32 AngleChange(Angle_e hopetype,fp32 angle); + #ifdef __cplusplus } #endif diff --git a/User/module/shoot.c b/User/module/shoot.c index c077919..dbf7412 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -5,60 +5,5 @@ extern RC_mess_t RC_mess; extern motor_measure_t *trigger_motor_data;//3508电机数据 -#define GO1_SHOOT 0 -#define ODRIVE_SHOOT 1 - -#define KP 0.12 -#define KD 0.008 -#if GO1_SHOOT == 1 - GO_SHOOT goshoot; - -void shooterInit(void) -{ - int i; - GO_M8010_init(); - for(i = 0;i < GO_NUM;i ++) - { - goshoot.goData[i] = getGoPoint(i);//获取电机数据指针 - - goshoot.angleSetgo[i] = 0; - goshoot.offestAngle[i] = 0; - // GO_M8010_send_data(&huart1, i,0,0,0,0,0,0); - GO_M8010_send_data(&huart6, i,0,0,0,0,0,0); - goshoot.offestAngle[i] = goshoot.goData[i]->Pos; - HAL_Delay(100); - // GO_M8010_send_data(&huart1, i,0,0,0,0,0,0); - GO_M8010_send_data(&huart6, i,0,0,0,0,0,0); - goshoot.offestAngle[i] = goshoot.goData[i]->Pos; - HAL_Delay(100); - } - -} - - -void shoot_ball(int key) -{ - - - //蓄力 - if(trigger_motor_data->real_angle ==60)//扳机已闭合 - { - goshoot.angleSetgo[0] = 10; - GO_M8010_send_data(&huart6, 0,0,0,goshoot.angleSetgo[0],1,KP,KD); - } - if (key ==2)//上升准备蓄力 - { - goshoot.angleSetgo[0] = 0; - GO_M8010_send_data(&huart6, 0,0,0,goshoot.angleSetgo[0],1,KP,KD); - } - - -} - - - - -#endif - diff --git a/User/module/shoot.h b/User/module/shoot.h index 707140d..7cdbb14 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -2,26 +2,11 @@ #define _SHOOT_H_ #include "GO_M8010_6_Driver.h" -#include "odrive_can.h" #include "djiMotor.h" #include "calc_lib.h" #include "pid.h" -typedef struct -{ - /* data */ - GO_Motorfield* goData[GO_NUM]; - //暂存目标位置 - //0 left，1 right - float angleSetgo[GO_NUM]; - float offestAngle[GO_NUM];//go数据 - float Kp; - float Kd; - float allowRange; -}GO_SHOOT; -void shooterInit(void); -void shoot_ball(int key); -void shoot_odrive(int angle); + #endif diff --git a/User/task/attrTask.c b/User/task/attrTask.c index 01fbfe0..f7611fd 100644 --- a/User/task/attrTask.c +++ b/User/task/attrTask.c @@ -35,7 +35,7 @@ const osThreadAttr_t attr_motor = { .priority = osPriorityRealtime, .stack_size = 128 * 4, }; -//odrive_shoot +//shoot const osThreadAttr_t attr_shoot = { .name = "shoot", .priority = osPriorityRealtime, diff --git a/User/task/can_task.c b/User/task/can_task.c index 9d1dea6..dee3e4b 100644 --- a/User/task/can_task.c +++ b/User/task/can_task.c @@ -25,7 +25,7 @@ void Task_Can(void *argument) { waitNewDji();//等待新数据 djiMotorEncode();//数据解析 - + vescMotorEncode();//数据解析 //将can数据添加到消息队列 diff --git a/User/task/dji_task.c b/User/task/dji_task.c index 1846b45..c012f63 100644 --- a/User/task/dji_task.c +++ b/User/task/dji_task.c @@ -43,25 +43,8 @@ void Task_Motor(void *argument) // 更新编码器数据 Update_Encoder(&encoder); m=trigger_angle_o*(8191/360); - if( mode == THREE ) - { - //当最高点时进入离合 - if(encoder.round_cnt>=8) - { - trigger_angle_o=2; - trigger_pos(m); - } - - } - else if( mode == DZ ) - { - //退出离合 - trigger_angle_o=0; - trigger_pos(m); - - } - - + + CAN_cmd_200(t_result,0,0,0,&hcan1); osDelay(2); diff --git a/User/task/initTask.c b/User/task/initTask.c index a2ae415..df064e6 100644 --- a/User/task/initTask.c +++ b/User/task/initTask.c @@ -37,7 +37,7 @@ void Task_Init(void *argument) { // dji_motor task_runtime.thread.dji_motor = osThreadNew(Task_Motor, NULL, &attr_motor); -// odrive_shoot +// shoot task_runtime.thread.shoot = osThreadNew(Task_Shoot, NULL, &attr_shoot); // go diff --git a/User/task/shoot_task.c b/User/task/shoot_task.c index 61c275f..a3ee326 100644 --- a/User/task/shoot_task.c +++ b/User/task/shoot_task.c @@ -7,53 +7,30 @@ #include "shoot.h" #include "read_spi.h" #include "dji_task.h" +#include "djiMotor.h" extern RC_mess_t RC_mess; extern Encoder_t encoder; extern motor_measure_t *trigger_motor_data;//3508电机数据 extern int mode; -#define GO1_SHOOT 0 -#define ODRIVE_SHOOT 0 - -//odrive发射 -#define SHOOT3 12 -#define TOP 6 -#define MIDDLE 3 -#define BOTTOM 0 +int speed_6384=10000; void Task_Shoot(void *argument) { (void)argument; /* 未使用argument，消除警告 */ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; - #if GO1_SHOOT == 1 - shooterInit(); - #endif + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */ while(1) { - #if GO1_SHOOT == 1 - shoot_ball(0); + CAN_VESC_RPM(77, speed_6384); - #elif ODRIVE_SHOOT == 1 - if(mode == THREE) - { - - } - else if(mode == DZ) - { - if(trigger_motor_data->total_angle ==0)//扳机已闭合 - { - - } - - } - - #endif + tick += delay_tick; /* 计算下一个唤醒时刻 */ osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */ }