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Robofish 2025-10-10 20:16:28 +08:00
parent db7f569b5c
commit 22654da273
11 changed files with 20 additions and 16 deletions
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0
User/module/command.c Normal file
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0
User/module/command.h Normal file
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8
User/module/config.c
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@ -168,8 +168,8 @@ Config_RobotParam_t robot_config = {
.chassis_param = {
.yaw={
.k=0.8f,
.p=1.2f,
.k=1.0f,
.p=1.0f,
.i=0.01f,
.d=0.05f,
.i_limit=0.0f,
@ -211,12 +211,12 @@ Config_RobotParam_t robot_config = {
},
.tp={
.k=1.0f,
.k=2.0f,
.p=2.0f, /* 俯仰角比例系数 */
.i=0.0f, /* 俯仰角积分系数 */
.d=0.0f, /* 俯仰角微分系数 */
.i_limit=0.0f, /* 积分限幅 */
.out_limit=2.0f, /* 输出限幅，腿长差值限制 */
.out_limit=10.0f, /* 输出限幅，腿长差值限制 */
.d_cutoff_freq=30.0f, /* 微分截止频率 */
.range=-1.0f, /* 不使用循环误差处理 */
},

1
User/module/shoot.c
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@ -303,3 +303,4 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)

2
User/task/command.c
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@ -36,7 +36,7 @@ void Task_command(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

4
User/task/ctrl_chassis.c
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@ -55,10 +55,10 @@ void Task_ctrl_chassis(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) != osOK) {
if (osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0) != osOK) {
// 没有新命令，保持上次命令
}
osMessageQueueGet(task_runtime.msgq.chassis_yaw, &chassis.feedback.yaw, NULL, 0);
osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0);
Chassis_UpdateFeedback(&chassis);

2
User/task/ctrl_gimbal.c
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@ -49,7 +49,7 @@ void Task_ctrl_gimbal(void *argument) {
Gimbal_UpdateFeedback(&gimbal);
// osMessageQueueReset(task_runtime.msgq.chassis_yaw);
osMessageQueuePut(task_runtime.msgq.chassis_yaw, &gimbal.feedback.motor.yaw, 0, 0);
osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
Gimbal_Control(&gimbal, &gimbal_cmd);

1
User/task/ctrl_shoot.c
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@ -40,6 +40,7 @@ void Task_ctrl_shoot(void *argument) {
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.shoot.shoot_cmd, &shoot_cmd, NULL, 0);
Shoot_UpdateFeedback(&shoot);
// Shoot_Test(&shoot);
Shoot_Control(&shoot,&shoot_cmd);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

6
User/task/init.c
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@ -46,9 +46,9 @@ void Task_Init(void *argument) {
// 创建消息队列
/* USER MESSAGE BEGIN */
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.chassis_imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
task_runtime.msgq.Chassis_cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis_yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
task_runtime.msgq.chassis.imu = osMessageQueueNew(2u, sizeof(Chassis_IMU_t), NULL);
task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);

4
User/task/rc.c
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@ -78,8 +78,8 @@ void Task_rc(void *argument) {
cmd_for_chassis.height = dr16.data.ch_res;
osMessageQueueReset(
task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0,
task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
0); // 非阻塞发送底盘控制命令
switch (dr16.data.sw_l) {

8
User/task/user_task.h
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@ -58,9 +58,11 @@ typedef struct {
struct {
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
osMessageQueueId_t chassis_imu;
osMessageQueueId_t Chassis_cmd;
osMessageQueueId_t chassis_yaw;
struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t yaw;
}chassis;
struct {
osMessageQueueId_t imu;
osMessageQueueId_t cmd;