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abc8885795
@ -574,11 +574,6 @@ typedef struct {
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osTimerId_t ui_slow_timer_id;
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} Referee_t;
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/* Referee_ChassisUI_t 已移至 module/chassis.h */
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/* Referee_CapUI_t 已移至 device/supercap.h */
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/* Referee_GimbalUI_t 已移至 module/gimbal.h */
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/* Referee_ShootUI_t 已移至 module/shoot.h */
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typedef struct __packed {
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/* UI缓冲数据 */
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UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
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@ -59,8 +59,8 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
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}
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/* 左摇杆控制云台 */
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ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_left.x * 4.0f;
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ctx->output.gimbal.cmd.delta_pit = -ctx->input.rc.joy_left.y * 2.5f;
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ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_right.x * 5.0f;
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ctx->output.gimbal.cmd.delta_pit = ctx->input.rc.joy_right.y * 5.0f;
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */
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@ -68,7 +68,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
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static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
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if (ctx->input.online[CMD_SRC_RC]) {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
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ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
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} else {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
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}
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@ -393,12 +393,13 @@ static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
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float vx = 0.0f, wz = 0.0f;
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uint32_t kb = ctx->input.pc.keyboard.bitmap;
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if (kb & CMD_KEY_W) vx += sens->move_sens;
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if (kb & CMD_KEY_S) vx -= sens->move_sens;
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if (kb & CMD_KEY_A) wz += sens->move_sens;
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if (kb & CMD_KEY_D) wz -= sens->move_sens;
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if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; }
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if (kb & CMD_KEY_CTRL) { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; }
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//案件的命令要放到behavior里，
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// if (kb & CMD_KEY_W) vx += sens->move_sens;
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// if (kb & CMD_KEY_S) vx -= sens->move_sens;
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// if (kb & CMD_KEY_A) wz += sens->move_sens;
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// if (kb & CMD_KEY_D) wz -= sens->move_sens;
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// if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; }
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// if (kb & CMD_KEY_CTRL) { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; }
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ctx->output.balance_chassis.cmd.move_vec.vx = vx;
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ctx->output.balance_chassis.cmd.move_vec.wz = wz;
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@ -110,19 +110,19 @@ Config_RobotParam_t robot_config = {
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.projectileType=SHOOT_PROJECTILE_17MM,
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.fric_num=2,
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.extra_deceleration_ratio=1.0f,
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.num_trig_tooth=5,
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.num_trig_tooth=8,
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.shot_freq=1.0f,
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.shot_burst_num=3,
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.ratio_multilevel = {1.0f},
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},
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.jamDetection={
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.enable=true,
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.threshold=310.0f,
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.threshold=200.0f,
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.suspectedTime=0.5f,
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},
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.heatControl={
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.enable=true,
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.nmax=2.0f, // 最大射频 Hz
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.nmax=18.0f, // 最大射频 Hz
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.Hwarn=200.0f, // 热量预警值
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.Hsatu=100.0f, // 热量饱和值
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.Hthres=50.0f, // 热量阈值
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@ -151,10 +151,10 @@ Config_RobotParam_t robot_config = {
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}
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},
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.trig = {
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.can = BSP_FDCAN_2,
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.id = 0x205,
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.module = MOTOR_M3508,
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.reverse = false,
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.can = BSP_CAN_1,
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.id = 0x203,
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.module = MOTOR_M2006,
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.reverse = true,
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.gear=true,
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},
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},
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@ -180,12 +180,12 @@ Config_RobotParam_t robot_config = {
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.range=-1.0f,
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},
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.trig_2006 = {
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.k=2.5f,
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.k=1.0f,
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.p=1.0f,
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.i=0.1f,
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.d=0.04f,
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.i_limit=0.4f,
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.out_limit=1.0f,
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.d=0.05f,
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.i_limit=0.8f,
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.out_limit=0.5f,
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.d_cutoff_freq=-1.0f,
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.range=M_2PI,
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},
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@ -195,7 +195,7 @@ Config_RobotParam_t robot_config = {
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.i=0.3f,
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.d=0.5f,
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.i_limit=0.2f,
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.out_limit=1.0f,
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.out_limit=0.9f,
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.d_cutoff_freq=-1.0f,
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.range=-1.0f,
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},
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@ -46,7 +46,6 @@ void Task(void *argument) {
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/* 发射检测参数 */
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#define SHOT_DETECT_RPM_DROP_THRESHOLD 100.0f /* 摩擦轮转速下降阈值，单位rpm */
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#define SHOT_DETECT_SUSPECTED_TIME 0.0005f /* 发射嫌疑持续时间阈值，单位秒 */
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#define FRIC_READY_RPM_RATIO 0.95f /* 摩擦轮准备好的转速比例 */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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@ -236,40 +235,6 @@ static float Shoot_CalcAvgFricRpm(Shoot_t *s)
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return (fric_num > 0) ? (sum / fric_num) : 0.0f;
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}
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/**
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* \brief 发射检测：通过摩擦轮掉速检测发射
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*
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* \param s 包含发射数据的结构体
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*
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* \return 是否检测到掉速超过阈值
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*/
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static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
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{
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if (s == NULL) {
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return false;
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}
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/* 只在READY和FIRE状态下检测，避免停机时误判 */
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if (s->running_state != SHOOT_STATE_READY &&
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s->running_state != SHOOT_STATE_FIRE) {
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return false;
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}
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/* 计算当前摩擦轮平均转速 */
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s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
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/* 计算当前转速与目标转速的差值（掉速量） */
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s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
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/* 判断是否发生明显掉速 */
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if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
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return true;
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}
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return false;
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}
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/**
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* \brief 热量数据融合：用裁判系统数据修正自主估计
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*
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@ -353,18 +318,29 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
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/* 计算当前平均转速 */
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s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
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/* 检查摩擦轮是否达到目标转速的85%以上 */
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if (s->heatcontrol.avgFricRpm >= s->target_variable.fric_rpm * FRIC_READY_RPM_RATIO) {
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/* 检查摩擦轮是否初步达到设定速度 */
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if (s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f) {
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
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s->heatcontrol.lastAvgFricRpm = s->heatcontrol.avgFricRpm;
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s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm; // 记录初始基准转速
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}
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}
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break;
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case SHOOT_HEAT_DETECT_READY:
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/* 准备检测状态：监测摩擦轮掉速 */
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/* 检测掉速（当前转速低于目标转速超过阈值） */
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if (Shoot_DetectShotByRpmDrop(s)) {
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/* 准备检测状态：监测摩擦轮相对当前的基准发生掉速 */
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s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
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/* 动态更新平稳时的基准转速：若当前转速比基准高，迅速成为新基准；若更低，基准非常缓慢地衰减，以适应正常波动 */
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if (s->heatcontrol.avgFricRpm > s->heatcontrol.baselineRpm) {
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s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm;
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} else {
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s->heatcontrol.baselineRpm = s->heatcontrol.baselineRpm * 0.999f + s->heatcontrol.avgFricRpm * 0.001f;
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}
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s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm;
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/* 检测掉速（当前转速低于动态基准超过阈值） */
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if (s->heatcontrol.rpmDrop > SHOT_DETECT_RPM_DROP_THRESHOLD) {
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_SUSPECTED;
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s->heatcontrol.detectTime = s->timer.now; /* 记录进入嫌疑状态的时间 */
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}
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@ -377,45 +353,47 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
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case SHOOT_HEAT_DETECT_SUSPECTED:
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/* 发射嫌疑状态：持续检测掉速 */
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/* 更新掉速量 */
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s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
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s->heatcontrol.rpmDrop = s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm;
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s->heatcontrol.rpmDrop = s->heatcontrol.baselineRpm - s->heatcontrol.avgFricRpm;
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/* 若掉速消失（转速恢复正常），回到准备状态 */
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if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD) {
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/* 若掉速消失（转速刚掉下又马上弹回基准附近），回到准备状态 (阈值的 60%) */
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if (s->heatcontrol.rpmDrop < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.6f) {
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
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}
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/* 若嫌疑状态持续超过阈值时间，确认发射 */
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/* 若掉速状态持续超过设定的嫌疑时间，确认这是一次发射 */
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else if ((s->timer.now - s->heatcontrol.detectTime) >= SHOT_DETECT_SUSPECTED_TIME) {
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_CONFIRMED;
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}
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break;
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case SHOOT_HEAT_DETECT_CONFIRMED:
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/* 确认发射状态：增加热量并返回准备状态 */
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/* 根据弹丸类型增加估计热量 */
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switch (s->param->basic.projectileType) {
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case SHOOT_PROJECTILE_17MM:
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s->heatcontrol.Hnow_estimated += 10.0f;
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break;
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case SHOOT_PROJECTILE_42MM:
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s->heatcontrol.Hnow_estimated += 100.0f;
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break;
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default:
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s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
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if (s->heatcontrol.unverified_shots > 0) {
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s->heatcontrol.unverified_shots--;
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}
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_RECOVERING;
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s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm; /* 记录进入此时的转速为谷底初值 */
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break;
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case SHOOT_HEAT_DETECT_RECOVERING:
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s->heatcontrol.avgFricRpm = Shoot_CalcAvgFricRpm(s);
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if (s->heatcontrol.avgFricRpm < s->heatcontrol.valleyRpm) {
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s->heatcontrol.valleyRpm = s->heatcontrol.avgFricRpm;
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}
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/* 限制估计热量不超过最大值 */
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if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
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s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
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}
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if ((s->heatcontrol.avgFricRpm - s->heatcontrol.valleyRpm > 30.0f) ||
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(s->target_variable.fric_rpm - s->heatcontrol.avgFricRpm < SHOT_DETECT_RPM_DROP_THRESHOLD * 0.8f)) {
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/* 增加发射计数 */
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s->heatcontrol.shots_detected++;
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/* 返回准备检测状态 */
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_READY;
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s->heatcontrol.baselineRpm = s->heatcontrol.avgFricRpm;
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}
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/* 如果摩擦轮停止 */
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if (s->running_state == SHOOT_STATE_IDLE) {
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s->heatcontrol.detectState = SHOOT_HEAT_DETECT_IDLE;
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}
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break;
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default:
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@ -423,7 +401,7 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
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break;
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}
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/* 善后工作：热量冷却（每个周期都执行） */
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/* 热量冷却*/
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if (s->heatcontrol.Hnow_estimated > 0.0f && s->heatcontrol.Hcd > 0.0f) {
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s->heatcontrol.Hnow_estimated -= s->heatcontrol.Hcd * s->timer.dt;
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if (s->heatcontrol.Hnow_estimated < 0.0f) {
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@ -431,6 +409,36 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
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}
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}
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/* 空弹链检测与修正：拨盘触发后超过0.4秒内仍未有对应的摩擦轮掉速确认 */
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if (s->heatcontrol.unverified_shots > 0 && (s->timer.now - s->var_trig.time_lastShoot) > 0.4f) {
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/* 这些弹丸确定未射出（空发） */
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float refund_heat = 0.0f;
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switch (s->param->basic.projectileType) {
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case SHOOT_PROJECTILE_17MM: refund_heat = 10.0f; break;
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case SHOOT_PROJECTILE_42MM: refund_heat = 100.0f; break;
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default: refund_heat = s->heatcontrol.Hgen; break;
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}
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refund_heat *= s->heatcontrol.unverified_shots;
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s->heatcontrol.Hnow_estimated -= refund_heat;
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if (s->heatcontrol.Hnow_estimated < 0.0f) {
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s->heatcontrol.Hnow_estimated = 0.0f;
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}
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if (s->var_trig.num_shooted >= s->heatcontrol.unverified_shots) {
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s->var_trig.num_shooted -= s->heatcontrol.unverified_shots;
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} else {
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s->var_trig.num_shooted = 0;
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}
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if (s->heatcontrol.shots_detected >= s->heatcontrol.unverified_shots) {
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s->heatcontrol.shots_detected -= s->heatcontrol.unverified_shots;
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} else {
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s->heatcontrol.shots_detected = 0;
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}
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s->heatcontrol.unverified_shots = 0;
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}
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/* 数据融合 */
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Shoot_FuseHeatData(s);
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@ -500,13 +508,17 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
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*/
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int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
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{
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if (s == NULL || s->var_trig.num_toShoot == 0) {
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if (s == NULL) {
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return SHOOT_ERR_NULL;
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}
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/* 更新热量控制数据 */
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Shoot_UpdateHeatControl(s);
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if (s->var_trig.num_toShoot == 0) {
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return SHOOT_OK; /* 即使没有弹丸待发，热量更新照常执行 */
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}
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/* 根据热量控制计算实际射频 */
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float actual_freq = Shoot_CaluFreqByHeat(s);
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@ -520,6 +532,23 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
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s->var_trig.time_lastShoot=s->timer.now;
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CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
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s->var_trig.num_toShoot--;
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s->var_trig.num_shooted++;
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/* 预测性发射：拨盘拨动即认为弹丸会射出，立即增加热量与发射计数 */
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float add_heat = 0.0f;
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switch (s->param->basic.projectileType) {
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case SHOOT_PROJECTILE_17MM: add_heat = 10.0f; break;
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case SHOOT_PROJECTILE_42MM: add_heat = 100.0f; break;
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default: add_heat = s->heatcontrol.Hgen; break;
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}
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s->heatcontrol.Hnow_estimated += add_heat;
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if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
|
||||
s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
|
||||
}
|
||||
s->heatcontrol.shots_detected++;
|
||||
|
||||
/* 增加等待摩擦轮掉速确认的弹丸数 */
|
||||
s->heatcontrol.unverified_shots++;
|
||||
}
|
||||
return SHOOT_OK;
|
||||
}
|
||||
@ -623,16 +652,17 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
return SHOOT_ERR_NULL; // 参数错误
|
||||
}
|
||||
uint8_t fric_num = s->param->basic.fric_num;
|
||||
static float pos;
|
||||
|
||||
if(s->mode==SHOOT_MODE_SAFE){
|
||||
for(int i=0;i<fric_num;i++)
|
||||
{
|
||||
MOTOR_RM_Relax(&s->param->motor.fric[i].param);
|
||||
}
|
||||
MOTOR_RM_Relax(&s->param->motor.trig);\
|
||||
pos=s->target_variable.trig_angle=s->var_trig.trig_agl;
|
||||
MOTOR_RM_Relax(&s->param->motor.trig);
|
||||
s->target_variable.trig_angle=s->var_trig.trig_agl;
|
||||
}
|
||||
else{
|
||||
Shoot_CaluTargetAngle(s, cmd);
|
||||
switch(s->running_state)
|
||||
{
|
||||
case SHOOT_STATE_IDLE:/*熄火等待*/
|
||||
@ -645,7 +675,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
MOTOR_RM_SetOutput(&s->param->motor.fric[i].param, s->output.lpfout_fric[i]);
|
||||
}
|
||||
|
||||
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->var_trig.trig_agl,0,s->timer.dt);
|
||||
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.trig_angle,s->var_trig.trig_agl,0,s->timer.dt);
|
||||
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->var_trig.trig_rpm,0,s->timer.dt);
|
||||
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
|
||||
MOTOR_RM_SetOutput(&s->param->motor.trig, s->output.outlpf_trig);
|
||||
@ -689,7 +719,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
}
|
||||
/* 设置拨弹电机输出 */
|
||||
s->output.outagl_trig =PID_Calc(&s->pid.trig,
|
||||
pos,
|
||||
s->target_variable.trig_angle,
|
||||
s->var_trig.trig_agl,
|
||||
0,
|
||||
s->timer.dt);
|
||||
@ -731,7 +761,6 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
break;
|
||||
|
||||
case SHOOT_STATE_FIRE:/*射击*/
|
||||
Shoot_CaluTargetAngle(s, cmd);
|
||||
for(int i=0;i<fric_num;i++)
|
||||
{
|
||||
uint8_t level=s->param->motor.fric[i].level-1;
|
||||
@ -776,7 +805,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
if(!cmd->firecmd)
|
||||
{
|
||||
s->running_state=SHOOT_STATE_READY;
|
||||
pos=s->var_trig.trig_agl;
|
||||
s->target_variable.trig_angle=s->var_trig.trig_agl;
|
||||
s->var_trig.num_toShoot=0;
|
||||
}
|
||||
break;
|
||||
|
||||
@ -35,7 +35,8 @@ typedef enum {
|
||||
SHOOT_HEAT_DETECT_IDLE = 0, /* 停机状态 */
|
||||
SHOOT_HEAT_DETECT_READY, /* 准备检测状态 */
|
||||
SHOOT_HEAT_DETECT_SUSPECTED, /* 发射嫌疑状态 */
|
||||
SHOOT_HEAT_DETECT_CONFIRMED /* 确认发射状态 */
|
||||
SHOOT_HEAT_DETECT_CONFIRMED, /* 确认发射状态 */
|
||||
SHOOT_HEAT_DETECT_RECOVERING /* 发射恢复状态 */
|
||||
}Shoot_HeatDetectionFSM_State_t;
|
||||
typedef enum {
|
||||
SHOOT_STATE_IDLE = 0,/* 熄火 */
|
||||
@ -114,7 +115,8 @@ typedef struct {
|
||||
Shoot_HeatDetectionFSM_State_t detectState; // 检测状态
|
||||
float detectTime; // 检测计时器
|
||||
float avgFricRpm; // 摩擦轮平均转速
|
||||
float lastAvgFricRpm; // 上次摩擦轮平均转速
|
||||
float baselineRpm; // 动态基准转速，用于连发掉速检测的参照
|
||||
float valleyRpm; // 掉速谷底转速，用于判断掉速回升
|
||||
float rpmDrop; // 转速下降量
|
||||
bool shotDetected; // 检测到发射标志
|
||||
|
||||
@ -123,6 +125,7 @@ typedef struct {
|
||||
float Hnow_fused; // 融合后的热量值
|
||||
uint16_t shots_detected; // 检测到的发射数
|
||||
uint16_t shots_available;// 当前热量可发射弹数
|
||||
uint16_t unverified_shots; // 已经拨弹但等待摩擦轮掉速确认的弹丸数
|
||||
}Shoot_HeatControl_t;
|
||||
|
||||
typedef struct {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user