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稀烂小陀螺

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Robofish 2025-10-09 00:03:30 +08:00
parent 8f0f615fb1
commit 17c6a92fd0
9 changed files with 70 additions and 742 deletions
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1
CMakeLists.txt
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@ -57,7 +57,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
# User/component sources
User/component/ahrs.c
User/component/cmd.c
User/component/crc16.c
User/component/crc8.c
User/component/filter.c

387
User/component/cmd.c
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@ -1,387 +0,0 @@
/*
控制命令
*/
#include "cmd.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 行为转换为对应按键
*
* @param cmd 主结构体
* @param behavior 行为
* @return uint16_t 行为对应的按键
*/
static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
CMD_Behavior_t behavior) {
return cmd->param->map.key_map[behavior].key;
}
static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
CMD_Behavior_t behavior) {
return cmd->param->map.key_map[behavior].active;
}
/**
* @brief 检查按键是否按下
*
* @param rc 遥控器数据
* @param key 按键名称
* @param stateful 是否为状态切换按键
* @return true 按下
* @return false 未按下
*/
static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
/* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) {
return rc->mouse.l_click;
}
if (key == CMD_R_CLICK) {
return rc->mouse.r_click;
}
return rc->key & (1u << key);
}
static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
CMD_Behavior_t behavior) {
CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
bool now_key_pressed, last_key_pressed;
/* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) {
now_key_pressed = rc->mouse.l_click;
last_key_pressed = cmd->mouse_last.l_click;
} else if (key == CMD_R_CLICK) {
now_key_pressed = rc->mouse.r_click;
last_key_pressed = cmd->mouse_last.r_click;
} else {
now_key_pressed = rc->key & (1u << key);
last_key_pressed = cmd->key_last & (1u << key);
}
switch (active) {
case CMD_ACTIVE_PRESSING:
return now_key_pressed && !last_key_pressed;
case CMD_ACTIVE_RASING:
return !now_key_pressed && last_key_pressed;
case CMD_ACTIVE_PRESSED:
return now_key_pressed;
}
}
/**
* @brief 解析pc行为逻辑
*
* @param rc 遥控器数据
* @param cmd 主结构体
* @param dt_sec 两次解析的间隔
*/
static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
/* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
cmd->gimbal.delta_eulr.yaw =
(float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
cmd->gimbal.delta_eulr.pit =
(float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
cmd->shoot.reverse_trig = false;
/* 按键行为映射相关逻辑 */
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
/* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
} else {
/* 切换至准备模式，停止射击 */
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = false;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
/* 每按一次依次切换开火下一个模式 */
cmd->shoot.fire_mode++;
cmd->shoot.fire_mode %= FIRE_MODE_NUM;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
/* 切换到小陀螺模式 */
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
/* 每按一次开、关弹舱盖 */
cmd->shoot.cover_open = !cmd->shoot.cover_open;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
if (cmd->ai_status == AI_STATUS_HITSWITCH) {
/* 停止ai的打符模式，停用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP;
} else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
/* 自瞄模式中切换失败提醒 */
} else {
/* ai切换至打符模式，启用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
cmd->ai_status = AI_STATUS_HITSWITCH;
cmd->host_overwrite = true;
}
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
if (cmd->ai_status == AI_STATUS_AUTOAIM) {
/* 停止ai的自瞄模式，停用host控制 */
cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
} else {
/* ai切换至自瞄模式，启用host控制 */
cmd->ai_status = AI_STATUS_AUTOAIM;
cmd->host_overwrite = true;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
}
} else {
cmd->host_overwrite = false;
// TODO: 修复逻辑
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
/* 按下拨弹反转 */
cmd->shoot.reverse_trig = true;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
}
/* 保存当前按下的键位状态 */
cmd->key_last = rc->key;
memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
}
/**
* @brief 解析rc行为逻辑
*
* @param rc 遥控器数据
* @param cmd 主结构体
* @param dt_sec 两次解析的间隔
*/
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
switch (rc->sw_l) {
/* 左拨杆相应行为选择和解析 */
case CMD_SW_UP:
cmd->chassis.mode = CHASSIS_MODE_BREAK;
break;
case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
break;
case CMD_SW_DOWN:
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_CW;
break;
case CMD_SW_ERR:
cmd->chassis.mode = CHASSIS_MODE_RELAX;
break;
}
switch (rc->sw_r) {
/* 右拨杆相应行为选择和解析*/
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_SAFE;
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;
case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
break;
/*
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_SAFE;
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;
case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
break;
*/
case CMD_SW_ERR:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX;
}
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
}
/**
* @brief rc失控时机器人恢复放松模式
*
* @param cmd 主结构体
*/
static void CMD_RcLostLogic(CMD_t *cmd) {
/* 机器人底盘、云台、射击运行模式恢复至放松模式 */
cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX;
}
/**
* @brief 初始化命令解析
*
* @param cmd 主结构体
* @param param 参数
* @return int8_t 0对应没有错误
*/
int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
/* 指针检测 */
if (cmd == NULL) return -1;
if (param == NULL) return -1;
/* 设置机器人的命令参数，初始化控制方式为rc控制 */
cmd->pc_ctrl = false;
cmd->param = param;
return 0;
}
/**
* @brief 检查是否启用上位机控制指令覆盖
*
* @param cmd 主结构体
* @return true 启用
* @return false 不启用
*/
inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
/**
* @brief 解析命令
*
* @param rc 遥控器数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
/* 指针检测 */
if (rc == NULL) return -1;
if (cmd == NULL) return -1;
/* 在pc控制和rc控制间切换 */
if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
cmd->pc_ctrl = true;
if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
cmd->pc_ctrl = false;
/*c当rc丢控时，恢复机器人至默认状态 */
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
CMD_RcLostLogic(cmd);
} else {
if (cmd->pc_ctrl) {
CMD_PcLogic(rc, cmd, dt_sec);
} else {
CMD_RcLogic(rc, cmd, dt_sec);
}
}
return 0;
}
/**
* @brief 解析上位机命令
*
* @param host host数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
(void)dt_sec; /* 未使用dt_sec，消除警告 */
/* 指针检测 */
if (host == NULL) return -1;
if (cmd == NULL) return -1;
/* 云台欧拉角设置为host相应的变化的欧拉角 */
cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
/* host射击命令，设置不同的射击频率和弹丸初速度 */
if (host->fire) {
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
} else {
cmd->shoot.mode = SHOOT_MODE_SAFE;
}
return 0;
}
/**
* @brief 添加向Referee发送的命令
*
* @param ref 命令队列
* @param cmd 要添加的命令
* @return int8_t 0对应没有错误
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
/* 指针检测 */
if (ref == NULL) return -1;
/* 越界检测 */
if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
/* 添加机器人当前行为状态到画图的命令队列中 */
ref->cmd[ref->counter] = cmd;
ref->counter++;
return 0;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

318
User/component/cmd.h
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@ -1,318 +0,0 @@
/*
控制命令
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include "component/ahrs.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 机器人型号 */
typedef enum {
ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
ROBOT_MODEL_HERO, /* 英雄机器人 */
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_NUM, /* 型号数量 */
} CMD_RobotModel_t;
/* 底盘运行模式 */
typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
} CMD_ChassisMode_t;
/* 云台运行模式 */
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} CMD_GimbalMode_t;
/* 射击运行模式 */
typedef enum {
SHOOT_MODE_RELAX, /* 放松模式，电机不输出 */
SHOOT_MODE_SAFE, /* 保险模式，电机闭环控制保持静止 */
SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
} CMD_ShootMode_t;
typedef enum {
FIRE_MODE_SINGLE, /* 单发开火模式 */
FIRE_MODE_BURST, /* N连发开火模式 */
FIRE_MODE_CONT, /* 持续开火模式 */
FIRE_MODE_NUM,
} CMD_FireMode_t;
/* 小陀螺转动模式 */
typedef enum {
ROTOR_MODE_CW, /* 顺时针转动 */
ROTOR_MODE_CCW, /* 逆时针转动 */
ROTOR_MODE_RAND, /* 随机转动 */
} CMD_RotorMode_t;
/* 底盘控制命令 */
typedef struct {
CMD_ChassisMode_t mode; /* 底盘运行模式 */
CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
MoveVector_t ctrl_vec; /* 底盘控制向量 */
} CMD_ChassisCmd_t;
/* 云台控制命令 */
typedef struct {
CMD_GimbalMode_t mode; /* 云台运行模式 */
AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
} CMD_GimbalCmd_t;
/* 射击控制命令 */
typedef struct {
CMD_ShootMode_t mode; /* 射击运行模式 */
CMD_FireMode_t fire_mode; /* 开火模式 */
bool fire; /*开火*/
bool cover_open; /* 弹舱盖开关 */
bool reverse_trig; /* 拨弹电机状态 */
} CMD_ShootCmd_t;
/* 拨杆位置 */
typedef enum {
CMD_SW_ERR = 0,
CMD_SW_UP = 1,
CMD_SW_MID = 3,
CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;
/* 键盘按键值 */
typedef enum {
CMD_KEY_W = 0,
CMD_KEY_S,
CMD_KEY_A,
CMD_KEY_D,
CMD_KEY_SHIFT,
CMD_KEY_CTRL,
CMD_KEY_Q,
CMD_KEY_E,
CMD_KEY_R,
CMD_KEY_F,
CMD_KEY_G,
CMD_KEY_Z,
CMD_KEY_X,
CMD_KEY_C,
CMD_KEY_V,
CMD_KEY_B,
CMD_L_CLICK,
CMD_R_CLICK,
CMD_KEY_NUM,
} CMD_KeyValue_t;
/* 行为值序列 */
typedef enum {
CMD_BEHAVIOR_FORE = 0, /* 向前 */
CMD_BEHAVIOR_BACK, /* 向后 */
CMD_BEHAVIOR_LEFT, /* 向左 */
CMD_BEHAVIOR_RIGHT, /* 向右 */
CMD_BEHAVIOR_ACCELERATE, /* 加速 */
CMD_BEHAVIOR_DECELEBRATE, /* 减速 */
CMD_BEHAVIOR_FIRE, /* 开火 */
CMD_BEHAVIOR_FIRE_MODE, /* 切换开火模式 */
CMD_BEHAVIOR_BUFF, /* 打符模式 */
CMD_BEHAVIOR_AUTOAIM, /* 自瞄模式 */
CMD_BEHAVIOR_OPENCOVER, /* 弹舱盖开关 */
CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */
CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */
CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
CMD_BEHAVIOR_NUM,
} CMD_Behavior_t;
typedef enum {
CMD_ACTIVE_PRESSING, /* 按下时触发 */
CMD_ACTIVE_RASING, /* 抬起时触发 */
CMD_ACTIVE_PRESSED, /* 按住时触发 */
} CMD_ActiveType_t;
typedef struct {
CMD_ActiveType_t active;
CMD_KeyValue_t key;
} CMD_KeyMapItem_t;
/* 行为映射的对应按键数组 */
typedef struct {
CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
} CMD_KeyMap_Params_t;
/* 位移灵敏度参数 */
typedef struct {
float move_sense; /* 移动灵敏度 */
float move_fast_sense; /* 加速灵敏度 */
float move_slow_sense; /* 减速灵敏度 */
} CMD_Move_Params_t;
typedef struct {
uint16_t width;
uint16_t height;
} CMD_Screen_t;
/* 命令参数 */
typedef struct {
float sens_mouse; /* 鼠标灵敏度 */
float sens_rc; /* 遥控器摇杆灵敏度 */
CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
CMD_Move_Params_t move; /* 位移灵敏度参数 */
CMD_Screen_t screen; /* 屏幕分辨率参数 */
} CMD_Params_t;
/* AI行为状态 */
typedef enum {
AI_STATUS_STOP, /* 停止状态 */
AI_STATUS_AUTOAIM, /* 自瞄状态 */
AI_STATUS_HITSWITCH, /* 打符状态 */
AI_STATUS_AUTOMATIC /* 自动状态 */
} CMD_AI_Status_t;
/* UI所用行为状态 */
typedef enum {
CMD_UI_NOTHING, /* 当前无状态 */
CMD_UI_AUTO_AIM_START, /* 自瞄状态开启 */
CMD_UI_AUTO_AIM_STOP, /* 自瞄状态关闭 */
CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
CMD_UI_HIT_SWITCH_STOP /* 打符状态关闭 */
} CMD_UI_t;
/*裁判系统发送的命令*/
typedef struct {
CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
uint8_t counter; /* 命令计数 */
} CMD_RefereeCmd_t;
typedef struct {
bool pc_ctrl; /* 是否使用键鼠控制 */
bool host_overwrite; /* 是否Host控制 */
uint16_t key_last; /* 上次按键键值 */
struct {
int16_t x;
int16_t y;
int16_t z;
bool l_click; /* 左键 */
bool r_click; /* 右键 */
} mouse_last; /* 鼠标值 */
CMD_AI_Status_t ai_status; /* AI状态 */
const CMD_Params_t *param; /* 命令参数 */
CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
CMD_GimbalCmd_t gimbal; /* 云台控制命令 */
CMD_ShootCmd_t shoot; /* 射击控制命令 */
CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
} CMD_t;
typedef struct {
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
float ch_res; /* 第五通道值 */
CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
struct {
int16_t x;
int16_t y;
int16_t z;
bool l_click; /* 左键 */
bool r_click; /* 右键 */
} mouse; /* 鼠标值 */
uint16_t key; /* 按键值 */
uint16_t res; /* 保留，未启用 */
} CMD_RC_t;
typedef struct {
AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
struct {
float vx; /* x轴移动速度 */
float vy; /* y轴移动速度 */
float wz; /* z轴转动速度 */
} chassis_move_vec; /* 底盘移动向量 */
bool fire; /* 开火状态 */
} CMD_Host_t;
/**
* @brief 解析行为命令
*
* @param rc 遥控器数据
* @param cmd 主结构体
*/
int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
/**
* @brief 检查是否启用上位机控制指令覆盖
*
* @param cmd 主结构体
* @return true 启用
* @return false 不启用
*/
bool CMD_CheckHostOverwrite(CMD_t *cmd);
/**
* @brief 解析命令
*
* @param rc 遥控器数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
/**
* @brief 解析上位机命令
*
* @param host host数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
/**
* @brief 添加向Referee发送的命令
*
* @param ref 命令队列
* @param cmd 要添加的命令
* @return int8_t 0对应没有错误
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

5
User/component/vmc.c
View File

@ -127,6 +127,7 @@ int8_t VMC_ForwardSolve(VMC_t *vmc, float phi1, float phi4, float body_pitch, fl
// 计算角加速度
leg->dd_theta = VMC_ComputeNumericDerivative(leg->d_theta, leg->last_d_theta, vmc->dt);
VMC_GroundContactDetection(vmc); // 更新地面接触状态
return 0;
}
@ -175,10 +176,10 @@ float VMC_GroundContactDetection(VMC_t *vmc) {
// Fn = F0*cos(theta) + Tp*sin(theta)/L0 + mg
leg->Fn = leg->F_virtual * cosf(leg->theta) +
leg->T_virtual * sinf(leg->theta) / leg->L0 +
vmc->param.wheel_mass * 9.8f; // 添加轮子重力
10.0f; // 添加轮子重力，假设轮子质量约1kg
// 地面接触判断
leg->is_ground_contact = (leg->Fn > 10.0f); // 10N阈值
leg->is_ground_contact = (leg->Fn > 20.0f); // 10N阈值
return leg->Fn;
}

51
User/module/balance_chassis.c
View File

@ -71,9 +71,9 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
LowPassFilter2p_Reset(&c->filter.wheel_out[0], 0.0f);
LowPassFilter2p_Reset(&c->filter.wheel_out[1], 0.0f);
c->mode = mode;
c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
c->wz_multi=0.0f;
return CHASSIS_OK;
}
@ -255,6 +255,7 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
} break;
case CHASSIS_MODE_WHELL_LEG_BALANCE:
case CHASSIS_MODE_ROTOR:
// 执行LQR控制（包含PID腿长控制）
Chassis_LQRControl(c, c_cmd);
@ -310,7 +311,8 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float desired_velocity = c_cmd->move_vec.vx * 2;
// 加速度限制处理
float velocity_change = desired_velocity - c->chassis_state.last_target_velocity_x;
float velocity_change =
desired_velocity - c->chassis_state.last_target_velocity_x;
float max_velocity_change = max_acceleration * c->dt; // 最大允许的速度变化
// 限制速度变化率（加速度限制）
@ -352,7 +354,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
LQR_State_t target_state = {0};
target_state.theta = 0.0f; // 目标摆杆角度
target_state.d_theta = 0.0f; // 目标摆杆角速度
target_state.phi = -0.1f; // 目标俯仰角
target_state.phi = -0.1f; // 目标俯仰角
target_state.d_phi = 0.0f; // 目标俯仰角速度
target_state.x = c->chassis_state.target_x; // 目标位置
target_state.d_x = target_dot_x; // 目标速度
@ -361,14 +363,40 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
LQR_SetTargetState(&c->lqr[0], &target_state);
LQR_SetTargetState(&c->lqr[1], &target_state);
LQR_Control(&c->lqr[0]);
LQR_Control(&c->lqr[1]);
if (c->mode != CHASSIS_MODE_ROTOR){
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
c->yaw_control.target_yaw = c->param->mech_zero_yaw;
c->yaw_control.target_yaw =
c->param->mech_zero_yaw + c_cmd->move_vec.vy * M_PI_2;
c->yaw_control.yaw_force =
PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw,
c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
}else{
CircleAdd(&c->wz_multi,0.000001, M_2PI);
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
CircleAdd(&c->yaw_control.target_yaw,c->wz_multi, M_2PI);
c->yaw_control.yaw_force =
PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw,
c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
}
if (c->vmc_[0].leg.is_ground_contact) {
LQR_Control(&c->lqr[0]);
} else {
c->lqr[0].control_output.T = 0.0f;
c->lqr[0].control_output.Tp =
c->lqr[0].K_matrix[1][6] * (-c->vmc_[0].leg.theta + 0.0f) +
c->lqr[0].K_matrix[1][7] * (-c->vmc_[0].leg.d_theta + 0.0f);
c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
}
if (c->vmc_[1].leg.is_ground_contact)
LQR_Control(&c->lqr[1]);
else {
c->lqr[1].control_output.T = 0.0f;
c->lqr[1].control_output.Tp =
c->lqr[1].K_matrix[1][6] * (-c->vmc_[1].leg.theta + 0.0f) +
c->lqr[1].K_matrix[1][7] * (-c->vmc_[1].leg.d_theta + 0.0f);
c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
}
/* 轮毂力矩输出（参考C++版本的减速比） */
c->output.wheel[0] =
@ -422,15 +450,14 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// 横滚角补偿力（左腿减少支撑力）
virtual_force[0] =
(c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) +
pid_output + 60.0f + roll_compensation_force;
pid_output + 55.0f + roll_compensation_force;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
// if (VMC_InverseSolve(&c->vmc_[0], 0.0f,
// Delta_Tp[0]) == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0],
&c->output.joint[1]);
} else {
// VMC失败，设为0力矩
c->output.joint[0] = 0.0f;
@ -448,13 +475,11 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
// 横滚角补偿力（右腿增加支撑力）
virtual_force[1] =
(c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) +
pid_output + 65.0f - roll_compensation_force;
pid_output + 60.0f - roll_compensation_force;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],
c->lqr[1].control_output.Tp + Delta_Tp[1]) == 0) {
// if (VMC_InverseSolve(&c->vmc_[1], 0.0f,
// Delta_Tp[1]) == 0) {
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3],
&c->output.joint[2]);
} else {

8
User/module/balance_chassis.h
View File

@ -40,8 +40,16 @@ typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
CHASSIS_MODE_RECOVER, /* 复位模式 */
CHASSIS_MODE_WHELL_LEG_BALANCE, /* 轮子+腿平衡模式，底盘自我平衡 */
CHASSIS_MODE_ROTOR, /* 小陀螺模式，底盘高速旋转 */
} Chassis_Mode_t;
typedef enum {
CHASSIS_JUMP_STATE_READY, /* 准备跳跃 */
CHASSIS_JUMP_STATE_JUMPING, /* 跳跃中 */
CHASSIS_JUMP_STATE_LANDING, /* 着陆中 */
CHASSIS_JUMP_STATE_END, /* 跳跃结束 */
} Chassis_JumpState_t;
typedef struct {
Chassis_Mode_t mode; /* 底盘模式 */
MoveVector_t move_vec; /* 底盘运动向量 */

24
User/module/config.c
View File

@ -254,18 +254,18 @@ Config_RobotParam_t robot_config = {
}
},
.lqr_gains = {
.k11_coeff = { -1.508572585852218e+02f, 1.764949368139731e+02f, -9.850368126414553e+01f, -1.786139736968997e+00f }, // theta
.k12_coeff = { 6.466280284100411e+00f, -6.582699834130516e+00f, -7.131858380770703e+00f, -2.414590752579311e-01f }, // d_theta
.k13_coeff = { -7.182568574598301e+01f, 7.405968297046749e+01f, -2.690651220502175e+01f, -1.029850390463813e-01f }, // x
.k14_coeff = { -7.645548919162933e+01f, 7.988837668034076e+01f, -3.105733981791483e+01f, -4.296847184537235e-01f }, // d_x
.k15_coeff = { -9.403058188674812e+00f, 2.314767704216332e+01f, -1.651965553704901e+01f, 3.907902082528794e+00f }, // phi
.k16_coeff = { -4.023111056381187e+00f, 6.154951770170482e+00f, -3.705537084098432e+00f, 8.264904615264155e-01f }, // d_phi
.k21_coeff = { 1.254775776629822e+02f, -8.971732439896309e+01f, 4.744038360386896e+00f, 1.088353622361175e+01f }, // theta
.k22_coeff = { 1.061139172689013e+01f, -1.011235824540459e+01f, 3.034478775177782e+00f, 1.254920921163464e+00f }, // d_theta
.k23_coeff = { -2.675556963667067e+01f, 4.511381902505539e+01f, -2.800741296230217e+01f, 7.647205920058282e+00f }, // x
.k24_coeff = { -4.067721095665326e+01f, 6.068996620706580e+01f, -3.488384556019462e+01f, 9.374136714284193e+00f }, // d_x
.k25_coeff = { 7.359316334738203e+01f, -7.896223244854855e+01f, 2.961892943386949e+01f, 4.406632136721399e+00f }, // phi
.k26_coeff = { 1.624843000878248e+01f, -1.680831323767654e+01f, 6.018754311678180e+00f, 2.337719500754984e-01f }, // d_phi
.k11_coeff = { -1.664671105856041e+02f, 1.992942584227816e+02f, -1.128817545552375e+02f, -3.940642943456036e+00f }, // theta
.k12_coeff = { 6.755144599983973e+00f, -6.854975158723420e+00f, -7.879639603878262e+00f, -3.430989798548029e-01f }, // d_theta
.k13_coeff = { -3.418833492635837e+01f, 3.794539021170885e+01f, -1.520710246171202e+01f, -1.850485591688714e+00f }, // x
.k14_coeff = { -2.922101309139124e+01f, 3.441555363812500e+01f, -1.622627738805500e+01f, -2.575952007718017e+00f }, // d_x
.k15_coeff = { -2.999200539123322e+01f, 4.450774352569402e+01f, -2.617910446060207e+01f, 7.659044227304066e+00f }, // phi
.k16_coeff = { -6.929749592092386e+00f, 8.873396045817064e+00f, -4.631802944769120e+00f, 1.362572135878896e+00f }, // d_phi
.k21_coeff = { 1.839005962436392e+02f, -1.553482828633151e+02f, 3.110973707035321e+01f, 1.011416512244285e+01f }, // theta
.k22_coeff = { 8.875841429383772e+00f, -9.417579122119678e+00f, 3.419383245219720e+00f, 1.210428310841859e+00f }, // d_theta
.k23_coeff = { -1.702557573110695e+01f, 3.268593582331833e+01f, -2.244761887504000e+01f, 6.890533147883790e+00f }, // x
.k24_coeff = { -3.039626115318488e+01f, 4.694731664073340e+01f, -2.839718813188056e+01f, 8.384942967731277e+00f }, // d_x
.k25_coeff = { 1.199164883293124e+02f, -1.297942949573494e+02f, 5.072648972704373e+01f, 3.419795826934867e+00f }, // phi
.k26_coeff = { 1.995972391472551e+01f, -2.168740968259558e+01f, 8.589314159209088e+00f, 1.523026014539914e-01f }, // d_phi
},
.virtual_chassis_param = {

2
User/module/shoot.c
View File

@ -133,7 +133,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
memset(&s->output,0,sizeof(s->output));
s->target_variable.target_rpm=4000.0f;
s->target_variable.target_rpm=200.0f;
return 0;
}

8
utils/Simulation-master/balance/series_legs/get_k_length.m
View File

@ -17,10 +17,10 @@ function K = get_k_length(leg_length)
R1=0.072; %驱动轮半径
L1=leg_length/2; %摆杆重心到驱动轮轴距离
LM1=leg_length/2; %摆杆重心到其转轴距离
l1=-0.03; %机体质心距离转轴距离
l1=0.01; %机体质心距离转轴距离
mw1=0.60; %驱动轮质量
mp1=1.8; %杆质量
M1=10.0; %机体质量
M1=12.0; %机体质量
Iw1=mw1*R1^2; %驱动轮转动惯量
Ip1=mp1*((L1+LM1)^2+0.05^2)/12.0; %摆杆转动惯量
IM1=M1*(0.3^2+0.12^2)/12.0; %机体绕质心转动惯量
@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
B=double(B);
Q=diag([2000 1 600 200 2000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[240 0;0 50]; %T Tp
Q=diag([800 100 2500 1500 5000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[140 0;0 50]; %T Tp
K=lqr(A,B,Q,R);