robofish/rm_balance
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Robofish 2026-03-19 12:08:40 +08:00
parent eea0a5a3d3
commit da7f4d6ea9
5 changed files with 1044 additions and 1010 deletions
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2
User/module/cmd/cmd.c
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@ -69,7 +69,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
static void CMD_RC_BuildShootCmd(CMD_t *ctx) { static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
if (ctx->input.online[CMD_SRC_RC]) { if (ctx->input.online[CMD_SRC_RC]) {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE; ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
} else { } else {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
} }

12
User/module/config.c
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@ -140,7 +140,7 @@ Config_RobotParam_t robot_config = {
.fric_num=2, .fric_num=2,
.extra_deceleration_ratio=1.0f, .extra_deceleration_ratio=1.0f,
.num_trig_tooth=8, .num_trig_tooth=8,
.shot_freq=18.0f, .shot_freq=15.0f,
.shot_burst_num=3, .shot_burst_num=3,
.ratio_multilevel = {1.0f}, .ratio_multilevel = {1.0f},
}, },
@ -152,7 +152,7 @@ Config_RobotParam_t robot_config = {
.heatControl={ .heatControl={
.enable=true, .enable=true,
.safe_shots=5, // 安全出弹余量 .safe_shots=5, // 安全出弹余量
.nmax=18.0f, // 最大射频 Hz .nmax=15.0f, // 最大射频 Hz
.Hwarn=200.0f, // 热量预警值 .Hwarn=200.0f, // 热量预警值
.Hsatu=100.0f, // 热量饱和值 .Hsatu=100.0f, // 热量饱和值
.Hthres=50.0f, // 热量阈值 .Hthres=50.0f, // 热量阈值
@ -542,10 +542,10 @@ Config_RobotParam_t robot_config = {
#endif #endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
.balance_sw_up = CHASSIS_MODE_RELAX, .balance_sw_up = CHASSIS_MODE_RELAX,
.balance_sw_mid = CHASSIS_MODE_RELAX, // .balance_sw_mid = CHASSIS_MODE_RELAX,
.balance_sw_down = CHASSIS_MODE_RELAX, // .balance_sw_down = CHASSIS_MODE_RELAX,
// .balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE, .balance_sw_mid = CHASSIS_MODE_LEG_TEST,
// .balance_sw_down = CHASSIS_MODE_BALANCE_ROTOR, .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
#endif #endif
}, },
}, },

2031
User/module/shoot.c
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File diff suppressed because it is too large Load Diff

1
User/module/shoot.h
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@ -102,6 +102,7 @@ typedef struct {
}Shoot_JamDetection_t; }Shoot_JamDetection_t;
typedef struct { typedef struct {
bool ref_online; /* 裁判系统数据是否在线 */
/* 从裁判系统读取的常量 */ /* 从裁判系统读取的常量 */
float Hmax; // 热量上限 float Hmax; // 热量上限
float Hcd; // 热量冷却速度 float Hcd; // 热量冷却速度

8
User/task/ctrl_shoot.c
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@ -4,6 +4,7 @@
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "cmsis_os.h"
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "device/mrobot.h" #include "device/mrobot.h"
@ -20,6 +21,7 @@
Shoot_t shoot; Shoot_t shoot;
Shoot_CMD_t shoot_cmd; Shoot_CMD_t shoot_cmd;
Referee_ForShoot_t shoot_ref; Referee_ForShoot_t shoot_ref;
Shoot_AI_t shoot_forai;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -71,11 +73,17 @@ void Task_ctrl_shoot(void *argument) {
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0); osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
Shoot_DumpAI(&shoot, &shoot_forai);
osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0);
if (shoot_ref.ref_status == REF_STATUS_RUNNING) { if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
shoot.heatcontrol.ref_online = true;
shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit; shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value; shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */ shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */
} else {
shoot.heatcontrol.ref_online = false;
} }
Shoot_UpdateFeedback(&shoot); Shoot_UpdateFeedback(&shoot);
Shoot_SetMode(&shoot,shoot_cmd.mode); Shoot_SetMode(&shoot,shoot_cmd.mode);