164 lines
3.4 KiB
C
164 lines
3.4 KiB
C
/*
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该任务用来处理来自不同控制方式下传回的期望的控制指令在此处统一为通用格式的控制指令发送给其他任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cmd.h"
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#include "gpio.h"
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#include <string.h>
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/* Private function -------------------------------------------------------- */
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/*Export function --------------------------------------------------------------*/
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int8_t CMD_Init(CMD_t *cmd){
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cmd->C_cmd.mode = STOP;
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cmd->cmd_power_on_safe = 0; // 初始为不安全状态
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}
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static void CMD_remote(const CMD_RC_t *rc, CMD_t *cmd) {
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if(rc->rc_type==RC_DR16){
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cmd->Vx = rc->DJ.ch_r_x;
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cmd->Vy = rc->DJ.ch_r_y;
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cmd->Vw = rc->DJ.ch_l_y;
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cmd->throttle = rc->DJ.ch_l_x;
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}
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if(rc->rc_type==RC_LD){
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cmd->Vx = rc->LD.ch_r_x;
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cmd->Vy = rc->LD.ch_r_y;
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cmd->Vw = rc->LD .ch_l_y;
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cmd->throttle = rc->LD.ch_l_x;
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}
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}
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/**
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* @brief rc失控时机器人恢复放松模式
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*
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* @param cmd 主结构体
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*/
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static void CMD_RcLostLogic(CMD_t *cmd){
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/* 机器人底盘运行模式恢复至放松模式 */
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cmd->C_cmd.mode = STOP;
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}
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int8_t CMD_ParseRc(CMD_t *cmd,CMD_RC_t *rc){
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switch (rc->rc_type){
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case RC_DR16:
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/*c当rc丢控时，恢复机器人至默认状态 */
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if ((rc->DJ.sw_l == CMD_SW_ERR) || (rc->DJ.sw_r == CMD_SW_ERR)) {
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CMD_RcLostLogic(cmd);
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cmd->cmd_power_on_safe = 0;
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}
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else{
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/* 上电保护检查 */
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// if(!cmd->cmd_power_on_safe && !pos.Action_ready){
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// if (rc->sw_l == CMD_SW_MID && pos.Action_ready){
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// cmd->cmd_power_on_safe = 1;
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// }
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// else{
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// // 否则保持停止状态
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// cmd->C_cmd.mode = STOP;
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// }
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// }
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// else{
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CMD_remote(rc, cmd);
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// }
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}
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break;
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case RC_LD:
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CMD_remote(rc, cmd);
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break;
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case Control_loss:
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CMD_RcLostLogic(cmd);
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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 CMD_CtrlSet(CMD_t *cmd,const CMD_RC_t *rc){
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//大疆
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if(rc->rc_type==RC_DR16){
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switch(rc->DJ.sw_l){
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case CMD_SW_UP:
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cmd->C_cmd.mode = RC;
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break;
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case CMD_SW_DOWN:
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cmd->C_cmd.mode = NAVI;
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break;
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case CMD_SW_MID:
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cmd->C_cmd.mode = STOP;
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}
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switch(rc->DJ.sw_r){
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case CMD_SW_UP:
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cmd->C_cmd.pos = POS_1;
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break;
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case CMD_SW_MID:
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cmd->C_cmd.pos = POS_2;
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break;
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case CMD_SW_DOWN:
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cmd->C_cmd.pos = POS_3;
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}
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}
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//乐迪
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else if(rc->rc_type==RC_LD){
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switch(rc->LD.key_H){
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case CMD_SW_UP:
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cmd->C_cmd.mode = RC;
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break;
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case CMD_SW_DOWN:
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cmd->C_cmd.mode = NAVI;
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break;
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case CMD_SW_MID:
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cmd->C_cmd.mode = STOP;
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}
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switch(rc->LD.key_G){
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case CMD_SW_UP:
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cmd->C_cmd.pos = POS_1;
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break;
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case CMD_SW_MID:
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cmd->C_cmd.pos = POS_2;
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break;
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case CMD_SW_DOWN:
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cmd->C_cmd.pos = POS_3;
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}
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}
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//switch(cmd->cmd_status){
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// cmd->C_cmd.mode = NORMAL;
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// break;
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// }
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return 0;
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}
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//接收码盘导航的返回数据，传入cmd_t结构体
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int8_t CMD_ParseAction(CMD_t *cmd,CMD_ACTION_t *act)
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{
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cmd ->C_navi .vx =act ->out .Vx ;
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cmd ->C_navi .vy =act ->out .Vy ;
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cmd ->C_navi .wz =act ->out .Vw ;
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return 0;
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}
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int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
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// switch(cmd->cmd_status){
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// case NAVI:
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// cmd->C_navi.vx = n->navi.vx;
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// cmd->C_navi.vy = n->navi.vy;
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cmd->camera_yaw = n->navi.vx;
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// break;
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// }
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return 0;
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}
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