#include "Chassis.h"
#include "define.h"

/*舵轮舵向校准方法：注释掉关于6020反馈角度的处理以及6020数据的发送这两处(define.h里有快捷方法)，
进debug将四个轮子编码器朝右（左右无所谓，可能会导致5065方向反，在解算里加个负号就行）
查看6020反馈值，将6020反馈值放入motor_offset中*/


//底盘初始化
int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq){
	 c->param = param; 	/*初始化参数 */

    //舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面   
	 MotorOffset_t motor_offset = { {271.329506, 330.179474, 208.084482, 29.337082}};	
   c->motoroffset = motor_offset;  // 将 motor_offset 的值赋给 c->motoroffset
	
   //在这里修改雷达校准时sick的值    	
   c->sick_set[0] = 2500;
   c->sick_set[1] = 2500;
   c->sick_set[2] = 600;
		 	 
	 //校准初始化
	 c->radar_reset_flag = 0;
	 
	 //蜂鸣器初始化
	 Buzzer_Init(&c->buzzer_radar_angle,200,1000,0.9); 
	 Buzzer_Init(&c->buzzer_nuc_flag,200,1000,0.9);	 
	 
	 for(int i=0;i<4;i++){
	   PID_init(&(c->pid.chassis_6020OmegaPid[i]), PID_POSITION,&(c->param->C6020Omega_param));
	   PID_init(&(c->pid.chassis_6020anglePid[i]), PID_POSITION,&(c->param->C6020Angle_param)); 		 
	 }
	
	 PID_init(&(c->pid.Chassis_AngleAdjust),PID_POSITION,&(c->param->Chassis_AngleAdjust_param));	 

  for(int i=0;i<2;i++){	 
	 PID_init(&(c->pid.chassis_RadaranglePID[i]),PID_POSITION,&(c->param->RadarAngle_param));
	 PID_init(&(c->pid.chassis_RadarspeedPID[i]),PID_POSITION,&(c->param->RadarSpeed_param));
	}
	
	 PID_init(&(c->pid.chassis_SickVx), PID_POSITION,&(c->param->SickVx_param));
	 PID_init(&(c->pid.chassis_SickVy), PID_POSITION,&(c->param->SickVy_param));	 
	 PID_init(&(c->pid.chassis_SickVw), PID_POSITION,&(c->param->SickVw_param));
	 
	 LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f); //给x 做滤波
	 LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给y 做滤波	
	 LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f); //给w 做滤波
	 LowPassFilter2p_Init(&(c->filled[3]),target_freq,8.0f);  //给雷达angle做滤波
	 LowPassFilter2p_Init(&(c->filled[4]),target_freq,8.0f);  //给雷达yaw做滤波	 
	 LowPassFilter2p_Init(&(c->filled[5]),target_freq,8.0f);  
	 LowPassFilter2p_Init(&(c->filled[6]),target_freq,10.0f); //给sick1做滤波
	 LowPassFilter2p_Init(&(c->filled[7]),target_freq,10.0f); //给sick2做滤波
	 LowPassFilter2p_Init(&(c->filled[8]),target_freq,10.0f); //给sick3做滤波

	 c->set_point.yaw = 0.0f; // 初始化偏航角
	 return CHASSIS_OK;
}

static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
	 c->mode =ctrl->C_cmd.mode;
   c->pos =ctrl->C_cmd.pos;	   
	 return 0;
}

//该函数用来更新其他任务获得的数据
int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {

  for (uint8_t i = 0; i < 4; i++) {		
		c->motorfeedback.rotor_rpm3508[i] = can->motor.motor3508.as_array[i].rotor_speed;
		c->motorfeedback.rotor_current3508[i] = can->motor.motor3508.as_array[i].torque_current;
	 
    c->motorfeedback.rotor_rpm6020[i] = can->motor.chassis6020.as_array[i].rotor_speed;
		c->motorfeedback.rotor_current6020[i] = can->motor.chassis6020.as_array[i].torque_current;
		c->motorfeedback.rotor_angle6020[i] = can->motor.chassis6020.as_array[i].rotor_angle;
		c->motorfeedback.rotor_temp6020[i] = can->motor.chassis6020.as_array[i].temp;
		
#ifdef calibration
#else  
    //由于安装不能保证0点朝向我们想要朝向的方向，所以进行零点偏移
		c->motorfeedback.rotor_angle6020[i] = fmod(can->motor.chassis6020.as_array[i].rotor_angle - 
		                                                    c->motoroffset.MOTOR_OFFSET[i], 360.0);
		if(c->motorfeedback.rotor_angle6020[i]<0){
		  c->motorfeedback.rotor_angle6020[i]+=360;
		}		
#endif
			
	  c->motorfeedback.rotor_rpm5065[i] = can->motor.chassis5065.as_array[i].rotor_speed;
	  c->motorfeedback.torque_current5065[i] = can->motor.chassis5065.as_array[i].torque_current;

 }	
  	//接收sick数据
    for (uint8_t i = 0; i < 3; i++) {
 	    c->sick[i] = can->sickfed.as_array[i].sick_distance;
 			c->sick[i] = LowPassFilter2p_Apply(&(c->filled[i+6]),c->sick[i]);
			c->sick[i] = c->sick[i]/10;
		}
  // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]	
	c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
  if (c->angle_current < 0) c->angle_current += 360.0f;
  return CHASSIS_OK;
}

//底盘解算   
void Chassis_speed_calculate(Chassis_t *c,Action_POS_t*pos,CMD_t *ctrl) {
	 
	// RC模式下松开遥控器防止6020回到默认位置导致侧翻
  if (c->mode == RC&&fabs(c->move_vec.Vx) < 1000 && fabs(c->move_vec.Vy) < 1000 && fabs(c->move_vec.Vw) < 1000) {
    // 如果之前不处于保持模式，则记录当前角度
    if (!c->keeping_angle_flag) {
			c->keeping_angle_flag = 1;  // 进入保持模式
    }
 	    
    // 使用保持的角度，而不是实时反馈值,速度为0
    for (uint8_t i = 0; i < 4; i++) {
      c->hopemotorout.rotor6020_jiesuan_1[i] = c->keep_angle[i];
      c->hopemotorout.rotor5065_jiesuan_1[i] = 0;
		}        
  } 
	else {
    // 如果有速度输入，则退出保持模式
    c->keeping_angle_flag = 0;
		//让保持角度实时等于进入保持阈值前的最后一次角度值
		for (uint8_t i = 0; i < 4; i++) {
      c->keep_angle[i] = c->hopemotorout.rotor6020_jiesuan_1[i];
    }
		
    switch(c->mode){	
			case RC: //RC模式下遥控器控制底盘运动，操控为机器人坐标系  x朝前，y朝右
				//解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
				c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
			  (c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
  
				c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
				(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
 
				c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
				(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));	
 
				c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
				(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
	
				//解算得到6020角度（-180°——+180°）
				c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
	    break;
			
	    case STOP: //停止模式下轮子锁死
		    for(int i =0 ; i < 4 ; i++){
			    c->hopemotorout.rotor5065_jiesuan_1[i]=0;	
		    }
			
		    c->hopemotorout.rotor6020_jiesuan_1[0]=315;
		    c->hopemotorout.rotor6020_jiesuan_1[1]=45;
		    c->hopemotorout.rotor6020_jiesuan_1[2]=45;
		    c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
		  break;
				
	    case NAVI: 
#ifdef radar					
				c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
			  (c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
  
				c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
				(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy+c->move_vec.Vw*cos(radians))*(c->move_vec.Vy+c->move_vec.Vw*cos(radians)));	
 
				c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
				(c->move_vec.Vx+c->move_vec.Vw*sin(radians))*(c->move_vec.Vx+c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));	
 
				c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
				(c->move_vec.Vx-c->move_vec.Vw*sin(radians))*(c->move_vec.Vx-c->move_vec.Vw*sin(radians))+
				(c->move_vec.Vy-c->move_vec.Vw*cos(radians))*(c->move_vec.Vy-c->move_vec.Vw*cos(radians)));
	
				//解算得到6020角度（-180°——+180°）
				c->hopemotorout.rotor6020_jiesuan_1[0]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[1]=atan2((c->move_vec.Vy+c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[2]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx+c->move_vec.Vw*sin(radians)))* (180 / M_PI);
				c->hopemotorout.rotor6020_jiesuan_1[3]=atan2((c->move_vec.Vy-c->move_vec.Vw*cos(radians)),
																			(c->move_vec.Vx-c->move_vec.Vw*sin(radians)))* (180 / M_PI);
	    break;
			
//			//利用雷达反馈的自身角度把机器人坐标系转到世界坐标系
//			   c->chassis_yaw = ctrl->nuc.yaw* (M_PI / 180.0f);
//			   float cos_yaw = cosf(c->chassis_yaw);
//         float sin_yaw = sinf(c->chassis_yaw);
//			 
//			   // 将速度从世界坐标系转换到底盘坐标系
//         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
//         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
// 
//			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
//	       c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
//  
//				 c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
//         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
// 
//	       c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
//	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
// 
//         c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
//	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
//         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
//	
//		     //解算得到6020角度（-180°——+180°）
//         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
//																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
//         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
//				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
//         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
//				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
// 	       c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
//				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);  
//				break;																
#elif defined(action_sick)
      if(ctrl->C_cmd.nuc_radar == WORLD && ctrl->C_cmd.dribble == Pause){
				//运球时锁死
		    for(int i =0 ; i < 4 ; i++){
			    c->hopemotorout.rotor5065_jiesuan_1[i]=0;	
		    }
			
		    c->hopemotorout.rotor6020_jiesuan_1[0]=315;
		    c->hopemotorout.rotor6020_jiesuan_1[1]=45;
		    c->hopemotorout.rotor6020_jiesuan_1[2]=45;
		    c->hopemotorout.rotor6020_jiesuan_1[3]=315;   
		    break; 
			}
			else{
			 //码盘sick模式下操控为世界坐标系，能实现舵轮小陀螺前进				 
			   c->chassis_yaw = pos->pos_yaw* (M_PI / 180.0f);
			   float cos_yaw = cosf(c->chassis_yaw);
         float sin_yaw = sinf(c->chassis_yaw);
			 
			   // 将速度从世界坐标系转换到底盘坐标系
         float Vx_local = c->move_vec.Vx * cos_yaw + c->move_vec.Vy * sin_yaw;
         float Vy_local = -c->move_vec.Vx * sin_yaw + c->move_vec.Vy * cos_yaw;
 
			   //解算得到5065速度，加-号是因为vesc校准时轮向电机默认转动正方向不同，可从上位机里改
	       c->hopemotorout.rotor5065_jiesuan_1[0]=-sqrt(
	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
  
				 c->hopemotorout.rotor5065_jiesuan_1[1]=sqrt(
	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
         (Vy_local + c->move_vec.Vw * cos(radians)) * (Vy_local + c->move_vec.Vw * cos(radians)));
 
	       c->hopemotorout.rotor5065_jiesuan_1[2]=-sqrt(
	       (Vx_local + c->move_vec.Vw * sin(radians)) * (Vx_local + c->move_vec.Vw * sin(radians)) +
         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
 
         c->hopemotorout.rotor5065_jiesuan_1[3]=sqrt(
	       (Vx_local - c->move_vec.Vw * sin(radians)) * (Vx_local - c->move_vec.Vw * sin(radians)) +
         (Vy_local - c->move_vec.Vw * cos(radians)) * (Vy_local - c->move_vec.Vw * cos(radians)));
	
		     //解算得到6020角度（-180°——+180°）
         c->hopemotorout.rotor6020_jiesuan_1[0]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
																			 (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
         c->hopemotorout.rotor6020_jiesuan_1[1]= atan2((Vy_local + c->move_vec.Vw * cos(radians)),
				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);
         c->hopemotorout.rotor6020_jiesuan_1[2]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
				                               (Vx_local + c->move_vec.Vw * sin(radians))) * (180 / M_PI);
 	       c->hopemotorout.rotor6020_jiesuan_1[3]= atan2((Vy_local - c->move_vec.Vw * cos(radians)),
				                               (Vx_local - c->move_vec.Vw * sin(radians))) * (180 / M_PI);  
				break;
			}
#endif	

    }	
  }
	//角度归化到0°——360°
	for (uint8_t i = 0; i < 4; i++) {			
	  if(c->hopemotorout.rotor6020_jiesuan_1[i]<0){
 			c->hopemotorout.rotor6020_jiesuan_1[i]+=360;
		}	
 	}
		
  //舵向电机就近转位
  float angle_error[4];//角度误差         
  for (uint8_t i = 0; i < 4; i++) {
    angle_error[i]=c->hopemotorout.rotor6020_jiesuan_1[i]-c->motorfeedback.rotor_angle6020[i];    
    //误差角度归化到-180°——+180°
    while (angle_error[i] > 180) angle_error[i] -= 360;
    while (angle_error[i] < -180) angle_error[i] += 360;
    /*这里发现如果下面的c->motorfeedback.rotor_angle6020[i]+angle_error[i]变为
	  c->hopemotorout.rotor6020_jiesuan_1[i]会导致6020出现故障*/
    if(angle_error[i]>90&&angle_error[i]<=180){
      c->hopemotorout.rotor5065_jiesuan_2[i]=-c->hopemotorout.rotor5065_jiesuan_1[i];
      c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i]-180;
    }         
    else if(angle_error[i]<-90&&angle_error[i]>=-180){
      c->hopemotorout.rotor5065_jiesuan_2[i]=-c->hopemotorout.rotor5065_jiesuan_1[i];
      c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i]+180;
    }         
    else{
      c->hopemotorout.rotor5065_jiesuan_2[i]=c->hopemotorout.rotor5065_jiesuan_1[i];
      c->hopemotorout.rotor6020_jiesuan_2[i]=c->motorfeedback.rotor_angle6020[i]+angle_error[i];
    }
  }	 
}

//利用c板yaw纠正底盘角度
void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
  // 将 IMU 的 yaw 从 [+180°, 0,-180°] 转换到 [0°, 360°]
  c->angle_current = - AngleChange(DEGREE, c->pos088.imu_eulr.yaw);
  if (c->angle_current < 0) c->angle_current += 360.0f;
	CircleAdd(&c->set_point.yaw, ctrl->Vw, 360.0f);

	c->yaw_out = PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_current,c->set_point.yaw);
}


//void Chassis_AngleCompensate(Chassis_t *c,CMD_t *ctrl) {
//	fp32 current_angle;
//	
//  if(c->move_vec.Vw== 0){
//		 c->angle_piancha=current_angle-c->angle_current;		
//	}
//  else{
//		current_angle = c->angle_current;			
//    c->angle_piancha=0;
//	}	

//	c->yaw_out = -PID_calc(&c->pid.Chassis_AngleAdjust,c->angle_piancha,0);
//}

//根据陀螺仪反馈的数据来防止速度过快时侧翻
void Chassis_RolPrevent(Chassis_t *c){	
 /*这里pit轴rol轴根据c板安装方向*/
	
	//后侧腾空
  if(c->pos088.imu_eulr.pit > 0.1f)
		c->move_vec.Vx = 30000; //往前挪
	//前侧腾空
	else if(c->pos088.imu_eulr.pit < -0.1f)
		c->move_vec.Vx = -30000; //往后挪

	//右侧腾空
  if(c->pos088.imu_eulr.rol > 0.1f)
		c->move_vec.Vy = -30000;  //往左挪				
	//左侧腾空
	else if(c->pos088.imu_eulr.rol < -0.1f)
		c->move_vec.Vy = 30000; //往右挪
}

//nuc纠正角度（右旋偏移量为正，左旋偏移量为负）
void nuc_angle_correct(Chassis_t *c,CMD_t *ctrl){		
 fp32 detla_angle;
 fp32 detla_yaw;	
	//雷达数据必须滤波，否则波形是0和正常数组成的矩形
  ctrl->nuc.angle = LowPassFilter2p_Apply(&(c->filled[3]),ctrl->nuc.angle);		
  ctrl->nuc.yaw = LowPassFilter2p_Apply(&(c->filled[4]),ctrl->nuc.yaw);
	
 detla_angle = PID_calc(&(c->pid.chassis_RadaranglePID[0]),ctrl->nuc.angle,0);	
 c->radar_angle = PID_calc(&(c->pid.chassis_RadarspeedPID[0]),c->pos088.bmi088.gyro.z,detla_angle);	
	
	
 detla_yaw = PID_calc(&(c->pid.chassis_RadaranglePID[1]),ctrl->nuc.yaw,0);	
 c->radar_yaw = PID_calc(&(c->pid.chassis_RadarspeedPID[1]),c->pos088.bmi088.gyro.z,detla_yaw);	
}

//雷达运用sick来校准
void radar_sick_calibration(Chassis_t *c,CMD_t *ctrl){
	
   fp32 diff_x = c->sick[2] - c->sick_set[2];
   fp32 diff_y = c->sick[0] - c->sick_set[0];
   fp32 diff_w = (c->sick[0] - c->sick[1]);
			
   c->move_sick.Vx = (fabsf(diff_x)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVx),diff_x,0): 0;
   c->move_sick.Vy = (fabsf(diff_y)>SICKXY_ERROR) ? PID_calc(&(c->pid.chassis_SickVy),diff_y,0): 0;
	 c->move_sick.Vw = PID_calc(&(c->pid.chassis_SickVw),diff_w*4,0); //放大偏角误差

	//判断sick是否到达目标点附近
   static uint8_t reach_cnt = 0; 
   if (fabsf(diff_x) <= SICKXY_ERROR && fabsf(diff_y) <= SICKXY_ERROR &&fabsf(diff_w)<= SICKW_ERROR) {
     reach_cnt++;
     if (reach_cnt >= 50) {
//       c->reset_sick_flag = 1;
       reach_cnt = 0;				 
     } 
   }		 
   else { 
//     c->reset_sick_flag = 0; 		
   }						
}

//底盘控制
int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out, Action_POS_t*pos){    
	
	fp32 chassis6020_detangle[4];	

	Chassis_SetCtrl(c,ctrl);
	
	//陀螺仪yaw纠正底盘偏角
//	Chassis_AngleCompensate(c,ctrl);
#ifdef radar		
  //关于nuc纠正的函数都要一直运行 	
	nuc_angle_correct(c,ctrl);	
//	radar_sick_calibration(c,ctrl);
#endif  
	switch (c->mode){	
		case RC:
	   c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
     c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;		
	   c->move_vec.Vw = ctrl->Vw*15000;
		 BSP_PWM_Stop(BSP_PWM_BUZZER);
	   break;	
		
	  case STOP:
		 c->move_vec.Vx =0;
		 c->move_vec.Vy =0;
		 c->move_vec.Vw =0;	
		 break; 
		
	  case NAVI:					
		switch (ctrl->C_cmd.nuc_radar){
		  case ANGLE:
	     c->move_vec.Vx = ctrl->Vx*95000;
       c->move_vec.Vy = ctrl->Vy*95000;	
#ifdef nuc_1			
       c->move_vec.Vw = c->radar_angle;			
       Buzzer_Control(&c->buzzer_radac->radar_angler_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));			
#elif defined(nuc_2)
			 if(ctrl->C_cmd.communicate == NO){
       c->move_vec.Vw = c->radar_angle;			
       Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.angle) < 1 && ctrl->nuc.angle != 0));				 
			 }
			 else if(ctrl->C_cmd.communicate == YES){
       c->move_vec.Vw = c->radar_yaw;			
       Buzzer_Control(&c->buzzer_radar_angle,(fabsf(ctrl->nuc.yaw) < 1 && ctrl->nuc.yaw != 0));				 
			 }
#endif			
		  break;
			 
		  case WORLD:
#ifdef action_sick	
         //跑点			
         if(ctrl->C_cmd.dribble == RUNNING){
           c->move_vec.Vx =ctrl->C_navi.vx ;
           c->move_vec.Vy =ctrl->C_navi.vy ;    
	         c->move_vec.Vw =ctrl->C_navi.wz ;			 
		     }		
          //运球锁死		 
		     else if(ctrl->C_cmd.dribble == Pause){
		       c->move_vec.Vx =0;
		       c->move_vec.Vy =0;
		       c->move_vec.Vw =0;		 
		     }

#else
         c->move_vec.Vx = ctrl->Vx*ctrl->throttle*9500;
         c->move_vec.Vy = ctrl->Vy*ctrl->throttle*9500;
	       c->move_vec.Vw = ctrl->Vw*15000;	 
#endif
			break;
      case RADAR_RESET:
//			  c->move_vec.Vx = c->move_sick.Vx;
//			  c->move_vec.Vy = c->move_sick.Vy;
//			  c->move_vec.Vw = c->move_sick.Vw;  
			c->radar_reset_flag = 1;					
      break;			
		}		 
	  break;		 	 
  } 
  if(c->mode != NAVI||ctrl->C_cmd.nuc_radar != NAVI) c->radar_reset_flag = 0;	
  //防翻
  Chassis_RolPrevent(c);  
	
  //进行滤波	 
	c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[0]),c->move_vec.Vx);
  c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vy);
  c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vw);
	  
  Chassis_speed_calculate(c,pos,ctrl); 	 
#ifdef calibration
#else 
  for (uint8_t i = 0 ; i <4 ; i++){
    
	  c->hopemotorout.motor6020_target[i]=c->hopemotorout.rotor6020_jiesuan_2[i];
	  chassis6020_detangle[i] = PID_calc(&(c->pid.chassis_6020anglePid[i]),c->motorfeedback.rotor_angle6020[i],
		                                                                    c->hopemotorout.motor6020_target[i]);
	  c->final_out.final_6020out[i] = PID_calc(&(c->pid.chassis_6020OmegaPid[i]),c->motorfeedback.rotor_rpm6020[i],
		                                                                                    chassis6020_detangle[i]);
	  out->chassis6020.as_array[i] = c->final_out.final_6020out[i];
		
	  c->hopemotorout.motor5065_target[i]=c->hopemotorout.rotor5065_jiesuan_2[i];
		c->final_out.final_5065out[i]=c->hopemotorout.motor5065_target[i];
		out->chassis5065.erpm[i] = c->final_out.final_5065out[i];       
	}	
#endif
   //vofa发送
	 c->vofa_send[0] =ctrl->nuc.angle;
	 c->vofa_send[1] =c->radar_angle;
//	 c->vofa_send[2] =;
//	 c->vofa_send[3] =;
//	 c->vofa_send[4] =;
//	 c->vofa_send[5] =;
//	 c->vofa_send[6] =;
//	 c->vofa_send[7] =;	
return CHASSIS_OK;
}