英雄版本
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MDK-ARM/DevC/DevC.hex
17757
MDK-ARM/DevC/DevC.hex
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@ -356,6 +356,7 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire = false;
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/* host射击命令,设置不同的射击频率和弹丸初速度 */
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if (host->fire && cmd->shoot.ai_fire) {
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cmd->shoot.fire = true;
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@ -202,7 +202,11 @@ static const Config_RobotParam_t param_default = {
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}, /* can */
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}; /* param_default */
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#ifdef DEBUG
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Config_RobotParam_t param_hero = {
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#else
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static const Config_RobotParam_t param_hero = {
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#endif
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.model = ROBOT_MODEL_HERO,
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.chassis = { /* 底盘模块参数 */
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@ -236,7 +240,7 @@ static const Config_RobotParam_t param_hero = {
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},
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.reverse = {
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.yaw = true,
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.yaw = false,
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},
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}, /* chassis */
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@ -293,8 +297,8 @@ static const Config_RobotParam_t param_hero = {
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},
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.reverse = {
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.yaw = true,
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.pit = true,
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.yaw = false,
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.pit = false,
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},
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.pit_ctrl_reverse = false,
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@ -331,8 +335,8 @@ static const Config_RobotParam_t param_hero = {
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.trig = -1.0f,
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},
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},
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.num_trig_tooth = 6.0f,
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.trig_gear_ratio = 3591.0f / 187.0f,
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.num_trig_tooth = 5.0f,
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.trig_gear_ratio = 19.0f,
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.fric_radius = 0.03f,
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.cover_open_duty = 0.125f,
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.cover_close_duty = 0.075f,
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@ -134,33 +134,33 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
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if (g->param->pit_ctrl_reverse){
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g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
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}else{
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g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
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g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
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}
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/* 处理yaw控制命令 */
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CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
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/* 处理pitch控制命令,软件限位 */
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// const float delta_max =
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// CircleError(g->limit.max,
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// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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// g->feedback.eulr.imu.pit),
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// M_2PI);
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// const float delta_min =
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// CircleError(g->limit.min,
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// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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// g->feedback.eulr.imu.pit),
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// M_2PI);
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const float delta_max =
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CircleError(g->limit.max,
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(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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g->feedback.eulr.encoder.pit),
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g->feedback.eulr.imu.pit),
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M_2PI);
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const float delta_min =
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CircleError(g->limit.min,
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(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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g->feedback.eulr.encoder.pit),
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g->feedback.eulr.imu.pit),
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M_2PI);
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// const float delta_max =
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// CircleError(g->limit.max,
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// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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// g->feedback.eulr.encoder.pit),
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// M_2PI);
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// const float delta_min =
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// CircleError(g->limit.min,
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// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
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// g->feedback.eulr.encoder.pit),
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// M_2PI);
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Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
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g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
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@ -182,16 +182,20 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
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PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
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g->feedback.gyro.z, 0.f, g->dt);
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// pit_omega_set_point =
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// PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
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// g->feedback.eulr.imu.pit, 0.0f, g->dt);
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pit_omega_set_point =
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PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
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g->feedback.eulr.encoder.pit, 0.0f, g->dt);
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g->feedback.eulr.imu.pit, 0.0f, g->dt);
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// pit_omega_set_point =
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// PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
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// g->feedback.eulr.encoder.pit, 0.0f, g->dt);
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g->out[GIMBAL_ACTR_PIT_IDX] =
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PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
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0.0, 0.f, g->dt);
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g->feedback.gyro.x, 0.f, g->dt);
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// g->out[GIMBAL_ACTR_PIT_IDX] =
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// PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
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// 0.0, 0.f, g->dt);
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break;
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case GIMBAL_MODE_RELATIVE:
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@ -252,9 +252,9 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
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float fric_rpm = CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
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(s->param->model == SHOOT_MODEL_17MM));
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s->setpoint.fric_rpm[0] = fric_rpm;
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s->setpoint.fric_rpm[1] = -fric_rpm;
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s->setpoint.fric_rpm[2] = fric_rpm;
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s->setpoint.fric_rpm[0] = -fric_rpm;
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s->setpoint.fric_rpm[1] = fric_rpm;
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s->setpoint.fric_rpm[2] = -fric_rpm;
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/* 计算拨弹电机位置的目标值 */
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if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) &&
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@ -32,10 +32,10 @@ typedef struct {
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static const char *const CLI_WELCOME_MESSAGE =
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"\r\n"
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// " ______ __ _______ __ \r\n"
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// " | __ \\.-----.| |--.-----.| | |.---.-.-----.| |_.-----.----.\r\n"
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// " | <| _ || _ | _ || || _ |__ --|| _| -__| _|\r\n"
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// " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__| \r\n"
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" ______ __ _______ __ \r\n"
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" | __ \\.-----.| |--.-----.| | |.---.-.-----.| |_.-----.----.\r\n"
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" | <| _ || _ | _ || || _ |__ --|| _| -__| _|\r\n"
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" |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__| \r\n"
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" -------------------------------------------------------------------\r\n"
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" FreeRTOS CLI. Type 'help' to view a list of registered commands. \r\n"
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"\r\n";
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