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好用的，哨兵，左头加底盘

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This commit is contained in:
Robofish 2025-01-14 15:01:03 +08:00
parent 76fde06500
commit b7415fd2c9
13 changed files with 10142 additions and 6976 deletions
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11
MDK-ARM/DevC.uvoptx
View File

@ -10,7 +10,7 @@
<aExt>*.s*; *.src; *.a*</aExt>
<oExt>*.obj; *.o</oExt>
<lExt>*.lib</lExt>
<tExt>*.txt; *.h; *.inc</tExt>
<tExt>*.txt; *.h; *.inc; *.md</tExt>
<pExt>*.plm</pExt>
<CppX>*.cpp</CppX>
<nMigrate>0</nMigrate>
@ -347,7 +347,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -387,6 +387,11 @@
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -1786,7 +1791,7 @@
<GroupNumber>12</GroupNumber>
<FileNumber>105</FileNumber>
<FileType>1</FileType>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\User\module\shoot.c</PathWithFileName>

11
MDK-ARM/DevC.uvprojx
View File

@ -16,7 +16,7 @@
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@ -1726,13 +1726,13 @@
<TargetName>Debug</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>6140000::V6.14::ARMCLANG</pCCUsed>
<pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
<uAC6>1</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F407IGHx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
<PackID>Keil.STM32F4xx_DFP.2.15.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
@ -3443,11 +3443,6 @@
<Layers>
<Layer>
<LayName>DevC</LayName>
<LayDesc></LayDesc>
<LayUrl></LayUrl>
<LayKeys></LayKeys>
<LayCat></LayCat>
<LayLic></LayLic>
<LayTarg>0</LayTarg>
<LayPrjMark>1</LayPrjMark>
</Layer>

BIN
MDK-ARM/DevC/DevC.axf
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16609
MDK-ARM/DevC/DevC.hex
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File diff suppressed because it is too large Load Diff

2
User/component/cmd.h
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@ -22,6 +22,8 @@ typedef enum {
ROBOT_MODEL_ENGINEER, /* 工程机器人 */
ROBOT_MODEL_DRONE, /* 空中机器人 */
ROBOT_MODEL_SENTRY, /* 哨兵机器人 */
ROBOT_MODEL_SENTRY_GIMBAL, /* 哨兵云台 */
ROBOT_MODEL_SENTRY_CHASSIS, /* 哨兵底盘 */
ROBOT_MODEL_NUM, /* 型号数量 */
} CMD_RobotModel_t;

13
User/device/can.c
View File

@ -155,7 +155,7 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
int16_t motor1, motor2, motor3, motor4;
int16_t yaw_motor, pit_motor;
int16_t fric1_motor, fric2_motor, trig_motor;
int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
switch (group) {
case CAN_MOTOR_GROUT_CHASSIS:
motor1 =
@ -219,6 +219,8 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
(int16_t)(output->shoot.named.fric1 * (float)CAN_M3508_MAX_ABS_LSB);
fric2_motor =
(int16_t)(output->shoot.named.fric2 * (float)CAN_M3508_MAX_ABS_LSB);
fric3_motor =
(int16_t)(output->shoot.named.fric3 * (float)CAN_M3508_MAX_ABS_LSB);
trig_motor =
(int16_t)(output->shoot.named.trig * (float)CAN_M2006_MAX_ABS_LSB);
@ -231,10 +233,10 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
raw_tx.tx_data[1] = (uint8_t)(fric1_motor & 0xFF);
raw_tx.tx_data[2] = (uint8_t)((fric2_motor >> 8) & 0xFF);
raw_tx.tx_data[3] = (uint8_t)(fric2_motor & 0xFF);
raw_tx.tx_data[4] = (uint8_t)((trig_motor >> 8) & 0xFF);
raw_tx.tx_data[5] = (uint8_t)(trig_motor & 0xFF);
raw_tx.tx_data[6] = 0;
raw_tx.tx_data[7] = 0;
raw_tx.tx_data[4] = (uint8_t)((fric3_motor >> 8) & 0xFF);
raw_tx.tx_data[5] = (uint8_t)(fric3_motor & 0xFF);
raw_tx.tx_data[6] = (uint8_t)((trig_motor >> 8) & 0xFF);
raw_tx.tx_data[7] = (uint8_t)(trig_motor & 0xFF);
HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
&raw_tx.tx_header, raw_tx.tx_data,
@ -264,6 +266,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
case CAN_M3508_FRIC1_ID:
case CAN_M3508_FRIC2_ID:
case CAN_M3508_FRIC3_ID:
case CAN_M2006_TRIG_ID:
index = can_rx->rx_header.StdId - CAN_M3508_FRIC1_ID;
can->recive_flag |= 1 << (index + 6);

15
User/device/can.h
View File

@ -22,9 +22,10 @@ extern "C" {
#define CAN_MOTOR_GIMBAL_PIT_RECV (1 << 5)
#define CAN_MOTOR_SHOOT_FRIC1_RECV (1 << 6)
#define CAN_MOTOR_SHOOT_FRIC2_RECV (1 << 7)
#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 8)
#define CAN_MOTOR_CAP_RECV (1 << 9)
#define CAN_TOF_RECV (1 << 10)
#define CAN_MOTOR_SHOOT_FRIC3_RECV (1 << 8)
#define CAN_MOTOR_SHOOT_TRIG_RECV (1 << 9)
#define CAN_MOTOR_CAP_RECV (1 << 10)
#define CAN_TOF_RECV (1 << 11)
#define CAN_REC_CHASSIS_FINISHED \
(CAN_MOTOR_CHASSIS_1_RECV | CAN_MOTOR_CHASSIS_2_RECV | \
@ -33,7 +34,7 @@ extern "C" {
(CAN_MOTOR_GIMBAL_YAW_RECV | CAN_MOTOR_GIMBAL_PIT_RECV)
#define CAN_REC_SHOOT_FINISHED \
(CAN_MOTOR_SHOOT_FRIC1_RECV | CAN_MOTOR_SHOOT_FRIC2_RECV | \
CAN_MOTOR_SHOOT_TRIG_RECV)
CAN_MOTOR_SHOOT_FRIC3_RECV |CAN_MOTOR_SHOOT_TRIG_RECV)
#define CAN_REC_CAP_FINISHED CAN_MOTOR_CAP_RECV
#define CAN_REC_TOF_FINISHED CAN_TOF_RECV
@ -72,7 +73,8 @@ typedef enum {
CAN_M3508_FRIC1_ID = 0x205, /* 5 */
CAN_M3508_FRIC2_ID = 0x206, /* 6 */
CAN_M2006_TRIG_ID = 0x207, /* 7 */
CAN_M3508_FRIC3_ID = 0x207, /* 7 */
CAN_M2006_TRIG_ID = 0x208, /* 8 */
CAN_GM6020_YAW_ID = 0x209, /* 5 */
CAN_GM6020_PIT_ID = 0x20A, /* 6 */
@ -110,6 +112,7 @@ enum CAN_MotorGimbal_e {
enum CAN_MotorShoot_e {
CAN_MOTOR_SHOOT_FRIC1 = 0,
CAN_MOTOR_SHOOT_FRIC2,
CAN_MOTOR_SHOOT_FRIC3,
CAN_MOTOR_SHOOT_TRIG,
CAN_MOTORSHOOT_NUM,
};
@ -147,6 +150,7 @@ typedef union {
struct {
float fric1;
float fric2;
float fric3;
float trig;
} named;
} CAN_ShootOutput_t;
@ -200,6 +204,7 @@ typedef union {
struct {
CAN_MotorFeedback_t fric1;
CAN_MotorFeedback_t fric2;
CAN_MotorFeedback_t fric3;
CAN_MotorFeedback_t trig;
} named;
} CAN_ShootMotor_t;

386
User/module/config.c
View File

@ -149,6 +149,8 @@ static const Config_RobotParam_t param_default = {
.yaw = false,
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -294,6 +296,8 @@ static const Config_RobotParam_t param_hero = {
.yaw = true,
.pit = true,
},
.pit_ctrl_reverse = false,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
@ -345,6 +349,386 @@ static const Config_RobotParam_t param_hero = {
}, /* can */
}; /* param_hero */
#ifdef DEBUG
Config_RobotParam_t param_sentry_chassis = {
#else
static const Config_RobotParam_t param_sentry_chassis = {
#endif
.model = ROBOT_MODEL_SENTRY_CHASSIS,
.chassis = { /* 底盘模块参数 */
.type = CHASSIS_TYPE_MECANUM,
.motor_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.follow_pid_param = {
.k = 0.5f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = -1.0f,
.out = -1.0f,
},
.reverse = {
.yaw = false,
},
}, /* chassis */
.gimbal = { /* 云台模块参数 */
.pid = {
{
// /* GIMBAL_PID_YAW_OMEGA_IDX */
// .k = 0.25f,
// .p = 1.0f,
// .i = 1.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_YAW_ANGLE_IDX */
// .k = 12.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.05f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.24f,
.p = 1.0f,
.i = 0.5f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_YAW_ANGLE_IDX */
.k = 10.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.05f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
}, {
// /* GIMBAL_PID_PIT_OMEGA_IDX */
// .k = 0.35f,
// .p = 1.0f,
// .i = 0.f,
// .d = 0.003f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_PIT_ANGLE_IDX */
// .k = 15.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_PIT_OMEGA_IDX */
.k = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 2.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
},
.reverse = {
.yaw = false,
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
.fric_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.2f,
.d = 0.01f,
.i_limit = 0.5f,
.out_limit = 0.5f,
.d_cutoff_freq = -1.0f,
},
.trig_pid_param = {
.k = 12.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = {
.fric = -1.0f,
.trig = -1.0f,
},
.out = {
.fric = -1.0f,
.trig = -1.0f,
},
},
.num_trig_tooth = 8.0f,
.trig_gear_ratio = 36.0f,
.fric_radius = 0.03f,
.cover_open_duty = 0.10f,
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 6.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
}, /* shoot */
.can = {
.chassis = BSP_CAN_1,
.gimbal = BSP_CAN_2,
.shoot = BSP_CAN_2,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_sentry_chassis */
#ifdef DEBUG
Config_RobotParam_t param_sentry_gimbal = {
#else
static const Config_RobotParam_t param_sentry_gimbal = {
#endif
.model = ROBOT_MODEL_SENTRY_GIMBAL,
.chassis = { /* 底盘模块参数 */
.type = CHASSIS_TYPE_MECANUM,
.motor_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
},
.follow_pid_param = {
.k = 0.5f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = -1.0f,
.out = -1.0f,
},
.reverse = {
.yaw = false,
},
}, /* chassis */
.gimbal = { /* 云台模块参数 */
.pid = {
{
// /* GIMBAL_PID_YAW_OMEGA_IDX */
// .k = 0.25f,
// .p = 1.0f,
// .i = 1.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_YAW_ANGLE_IDX */
// .k = 12.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.05f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.24f,
.p = 1.0f,
.i = 0.5f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_YAW_ANGLE_IDX */
.k = 10.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.05f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
}, {
// /* GIMBAL_PID_PIT_OMEGA_IDX */
// .k = 0.35f,
// .p = 1.0f,
// .i = 0.f,
// .d = 0.003f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f,
// }, {
// /* GIMBAL_PID_PIT_ANGLE_IDX */
// .k = 15.0f,
// .p = 1.0f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 0.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = -1.0f,
// .range = M_2PI,
/* GIMBAL_PID_PIT_OMEGA_IDX */
.k = 0.25f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = -1.0f,
}, {
/* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 2.0f,
.p = 5.0f,
.i = 2.5f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
}, /* pid */
.pitch_travel_rad = 0.85f,
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
},
.reverse = {
.yaw = false,
.pit = true,
},
.pit_ctrl_reverse = true,
}, /* gimbal */
.shoot = { /* 射击模块参数 */
.fric_pid_param = {
.k = 0.001f,
.p = 1.0f,
.i = 0.2f,
.d = 0.01f,
.i_limit = 0.5f,
.out_limit = 0.5f,
.d_cutoff_freq = -1.0f,
},
.trig_pid_param = {
.k = 12.0f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0450000018f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = -1.0f,
.range = M_2PI,
},
.low_pass_cutoff_freq = {
.in = {
.fric = -1.0f,
.trig = -1.0f,
},
.out = {
.fric = -1.0f,
.trig = -1.0f,
},
},
.num_trig_tooth = 8.0f,
.trig_gear_ratio = 36.0f,
.fric_radius = 0.03f,
.cover_open_duty = 0.10f,
.cover_close_duty = 0.050f,
.model = SHOOT_MODEL_17MM,
.bullet_speed = 6.f,
.min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
}, /* shoot */
.can = {
.chassis = BSP_CAN_1,
.gimbal = BSP_CAN_2,
.shoot = BSP_CAN_2,
.cap = BSP_CAN_1,
}, /* can */
}; /* param_sentry_gimbal */
/* static const Config_RobotParam_t param_xxx; */
static const Config_PilotCfg_t cfg_qs = {
@ -411,6 +795,8 @@ static const Config_RobotParamMap_t robot_param_map[] = {
{"default", &param_default},
{"infantry", &param_default},
{"hero", &param_hero},
{"sentry_chassis", &param_sentry_chassis},
{"sentry_gimbal", &param_sentry_gimbal},
// {"engineer", &param_engineer},
// {"drone", &param_drone},
// {"sentry", &param_sentry},

2
User/module/config.h
View File

@ -48,7 +48,7 @@ typedef struct {
AHRS_Eulr_t mech_zero; /* 机械零点 */
float gimbal_limit; /* 云台pitch轴软件限位最高点 */
} Config_t;
/* 机器人参数和对应字符串的映射 */

30
User/module/gimbal.c
View File

@ -130,22 +130,36 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode);
/* yaw坐标正方向与遥控器操作逻辑相反 */
g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
if (g->param->pit_ctrl_reverse){
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
}else{
g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
}
/* 处理yaw控制命令 */
CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
/* 处理pitch控制命令，软件限位 */
// const float delta_max =
// CircleError(g->limit.max,
// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
// g->feedback.eulr.imu.pit),
// M_2PI);
// const float delta_min =
// CircleError(g->limit.min,
// (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
// g->feedback.eulr.imu.pit),
// M_2PI);
const float delta_max =
CircleError(g->limit.max,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
g->feedback.eulr.encoder.pit),
M_2PI);
const float delta_min =
CircleError(g->limit.min,
(g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
g->feedback.eulr.imu.pit),
g->feedback.eulr.encoder.pit),
M_2PI);
Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
@ -168,12 +182,16 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
g->feedback.gyro.z, 0.f, g->dt);
// pit_omega_set_point =
// PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
// g->feedback.eulr.imu.pit, 0.0f, g->dt);
pit_omega_set_point =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
g->feedback.eulr.imu.pit, 0.0f, g->dt);
g->feedback.eulr.encoder.pit, 0.0f, g->dt);
g->out[GIMBAL_ACTR_PIT_IDX] =
PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
g->feedback.gyro.x, 0.f, g->dt);
0.0, 0.f, g->dt);
break;
case GIMBAL_MODE_RELATIVE:

2
User/module/gimbal.h
View File

@ -60,6 +60,8 @@ typedef struct {
bool pit;
} reverse;
bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
} Gimbal_Params_t;
/* 软件限位 */

26
User/module/shoot.c
View File

@ -35,7 +35,7 @@ static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
if (mode == s->mode) return SHOOT_OK;
/* 切换模式后重置PID和滤波器 */
for (uint8_t i = 0; i < 2; i++) {
for (uint8_t i = 0; i < 3; i++) {
PID_Reset(s->pid.fric + i);
LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
@ -117,7 +117,7 @@ int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
s->param = param; /* 初始化参数 */
s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
for (uint8_t i = 0; i < 2; i++) {
for (uint8_t i = 0; i < 3; i++) {
/* PI控制器初始化PID */
PID_Init(s->pid.fric + i, KPID_MODE_NO_D, target_freq,
&(param->fric_pid_param));
@ -154,7 +154,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s, const CAN_t *can) {
if (s == NULL) return -1;
if (can == NULL) return -1;
for (uint8_t i = 0; i < 2; i++) {
for (uint8_t i = 0; i < 3; i++) {
s->feedback.fric_rpm[i] = can->motor.shoot.as_array[i].rotor_speed;
}
@ -245,20 +245,26 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
}
/* 计算摩擦轮转速的目标值 */
s->setpoint.fric_rpm[1] =
CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
(s->param->model == SHOOT_MODEL_17MM));
s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
// s->setpoint.fric_rpm[1] =
// CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
// (s->param->model == SHOOT_MODEL_17MM));
// s->setpoint.fric_rpm[0] = -s->setpoint.fric_rpm[1];
float fric_rpm = CalculateRpm(s->fire_ctrl.bullet_speed, s->param->fric_radius,
(s->param->model == SHOOT_MODEL_17MM));
s->setpoint.fric_rpm[0] = fric_rpm;
s->setpoint.fric_rpm[1] = -fric_rpm;
s->setpoint.fric_rpm[2] = fric_rpm;
/* 计算拨弹电机位置的目标值 */
if (((now - s->fire_ctrl.last_shoot) >= s->fire_ctrl.period_ms) &&
(s_cmd->fire)) {
/* 将拨弹电机角度进行循环加法，每次加(减)射出一颗弹丸的弧度变化 */
if (s_cmd->reverse_trig) { /* 反转拨弹 */
CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
M_2PI);
} else {
CircleAdd(&(s->setpoint.trig_angle), -M_2PI / s->param->num_trig_tooth,
CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
M_2PI);
s->fire_ctrl.shooted++;
s->fire_ctrl.last_shoot = now;
@ -285,7 +291,7 @@ int8_t Shoot_Control(Shoot_t *s, CMD_ShootCmd_t *s_cmd,
s->out[SHOOT_ACTR_TRIG_IDX] = LowPassFilter2p_Apply(
&(s->filter.out.trig), s->out[SHOOT_ACTR_TRIG_IDX]);
for (uint8_t i = 0; i < 2; i++) {
for (uint8_t i = 0; i < 3; i++) {
/* 控制摩擦轮 */
s->feedback.fric_rpm[i] = LowPassFilter2p_Apply(
&(s->filter.in.fric[i]), s->feedback.fric_rpm[i]);

11
User/module/shoot.h
View File

@ -29,6 +29,7 @@ extern "C" {
enum Shoot_Acuator_e {
SHOOT_ACTR_FRIC1_IDX = 0, /* 1号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC2_IDX, /* 2号摩擦轮相关的索引值 */
SHOOT_ACTR_FRIC3_IDX, /* 3号摩擦轮相关的索引值 */
SHOOT_ACTR_TRIG_IDX, /* 扳机电机相关的索引值 */
SHOOT_ACTR_NUM, /* 总共的动作器数量 */
};
@ -106,20 +107,20 @@ typedef struct {
/* 反馈信息 */
struct {
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float trig_motor_angle; /* 拨弹电机角度，单位：弧度 */
float trig_angle; /* 拨弹转盘角度，单位：弧度 */
} feedback;
/* PID计算的目标值 */
struct {
float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
float fric_rpm[3]; /* 摩擦轮电机转速，单位：RPM */
float trig_angle; /* 拨弹电机角度，单位：弧度 */
} setpoint;
/* 反馈控制用的PID */
struct {
KPID_t fric[2]; /* 控制摩擦轮 */
KPID_t fric[3]; /* 控制摩擦轮 */
KPID_t trig; /* 控制拨弹电机 */
} pid;
@ -127,13 +128,13 @@ typedef struct {
struct {
/* 反馈值滤波器 */
struct {
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} in;
/* 输出值滤波器 */
struct {
LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
LowPassFilter2p_t fric[3]; /* 过滤摩擦轮 */
LowPassFilter2p_t trig; /* 过滤拨弹电机 */
} out;
} filter;