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remake_jump

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Robofish 2026-02-19 13:03:05 +08:00
parent 957706859a
commit 6d70af4599
5 changed files with 16 additions and 31 deletions
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20
User/module/balance_chassis.c
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@ -580,6 +580,13 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
return CHASSIS_ERR_MODE;
}
/* 跳跃触发入口统一放在底盘控制主流程：由chassis_cmd直接驱动 */
if (c_cmd->jump_trigger &&
c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE &&
c->jump.state == JUMP_IDLE) {
c->jump.trigger = true;
}
/* VMC正解算 */
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle,
c->feedback.joint[1].rotor_abs_angle,
@ -948,16 +955,3 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
return CHASSIS_OK;
}
/**
* @brief 触发跳跃
* @param c 底盘结构体指针
*/
void Chassis_TriggerJump(Chassis_t *c) {
if (c == NULL) return;
/* 只在平衡模式且待机状态下可触发跳跃 */
if (c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE && c->jump.state == JUMP_IDLE) {
c->jump.trigger = true;
}
}

8
User/module/balance_chassis.h
View File

@ -249,14 +249,6 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd);
*/
int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd);
/**
* \brief 触发跳跃
*
* \param c 包含底盘数据的结构体
* \note 只在CHASSIS_MODE_WHELL_LEG_BALANCE模式下有效
*/
void Chassis_TriggerJump(Chassis_t *c);
/**
* \brief 底盘输出值
*

2
User/module/config.c
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@ -348,7 +348,7 @@ Config_RobotParam_t robot_config = {
.launch_time_ms = 120,
.retract_time_ms = 80,
.land_time_ms = 300,
.crouch_leg_length = 0.1f,
.crouch_leg_length = 0.14f,
.launch_force = 200.0f,
.retract_leg_length = 0.1f, /* 收腿目标更短 */
.retract_force = -120.0f, /* 收腿前馈力加大 */

6
User/task/ctrl_chassis.c
View File

@ -90,12 +90,6 @@ void Task_ctrl_chassis(void *argument) {
Chassis_UpdateFeedback(&chassis);
/* 检查跳跃触发 */
if (chassis_cmd.jump_trigger) {
Chassis_TriggerJump(&chassis);
chassis_cmd.jump_trigger = false; /* 清除触发标志 */
}
Chassis_Control(&chassis, &chassis_cmd);
osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);

9
User/task/rc.c
View File

@ -143,18 +143,23 @@ void Task_rc(void *argument) {
/************************* 底盘命令 **************************************/
/* 跳跃触发检测：ch_res 从 -1.0f 松开回 0 时触发 */
static bool ch_res_was_min = false; /* 记录上次是否在最低位置 */
static uint8_t jump_trigger_hold_cnt = 0; /* 触发保持计数，避免单拍脉冲被队列重置吞掉 */
const float CH_RES_MIN_THRESHOLD = -0.9f; /* 判定为最低位置的阈值 */
const float CH_RES_RELEASE_THRESHOLD = -0.3f; /* 判定为松开的阈值 */
cmd_for_chassis.jump_trigger = false; /* 默认不触发 */
if (dr16.data.ch_res < CH_RES_MIN_THRESHOLD) {
ch_res_was_min = true; /* 记录已到达最低位置 */
} else if (ch_res_was_min && dr16.data.ch_res > CH_RES_RELEASE_THRESHOLD) {
/* 从最低位置松开，触发跳跃 */
cmd_for_chassis.jump_trigger = true;
jump_trigger_hold_cnt = 5; /* 保持5个RC周期，确保ctrl任务一定能收到 */
ch_res_was_min = false; /* 重置状态 */
}
cmd_for_chassis.jump_trigger = (jump_trigger_hold_cnt > 0);
if (jump_trigger_hold_cnt > 0) {
jump_trigger_hold_cnt--;
}
switch (dr16.data.sw_l) {
case DR16_SW_UP:
cmd_for_chassis.mode = CHASSIS_MODE_RELAX;