From dd6c48c75cc7e280074e7a540dea0841420a3b46 Mon Sep 17 00:00:00 2001 From: xxxxm <2389287465@qq.com> Date: Sat, 21 Mar 2026 02:04:44 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E7=83=AD=E9=87=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/module/cmd/cmd.c | 9 ++++++++- User/module/config.c | 14 +++++++------- User/module/shoot.c | 43 +++++++++++++++++++++--------------------- User/module/shoot.h | 4 ++-- User/task/ctrl_shoot.c | 30 +++++++++++++++++++++++++---- 5 files changed, 64 insertions(+), 36 deletions(-) diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c index 958027a..c08b5ac 100644 --- a/User/module/cmd/cmd.c +++ b/User/module/cmd/cmd.c @@ -71,7 +71,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) { #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT static void CMD_RC_BuildShootCmd(CMD_t *ctx) { if (ctx->input.online[CMD_SRC_RC]) { - ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE; + ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE; } else { ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; } @@ -406,6 +406,13 @@ static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) { ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f; ctx->output.balance_chassis.cmd.move_vec.wz = 0.0f; + ctx->output.balance_chassis.cmd.height += (float)ctx->input.pc.mouse.z * sens->mouse_sens * 0.001f * ctx->timer.dt; + if (ctx->output.balance_chassis.cmd.height > 1.0f) { + ctx->output.balance_chassis.cmd.height = 1.0f; + } else if (ctx->output.balance_chassis.cmd.height < 0.2f) { + ctx->output.balance_chassis.cmd.height = 0.2f; + } + ctx->output.balance_chassis.cmd.jump_trigger = false; ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE; CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_BALANCE_CHASSIS); diff --git a/User/module/config.c b/User/module/config.c index eca48af..07104e4 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -146,16 +146,16 @@ Config_RobotParam_t robot_config = { }, .jamDetection={ .enable=true, - .threshold=200.0f, + .threshold=90.0f, .suspectedTime=0.5f, }, .heatControl={ .enable=true, - .safe_shots=0.05f, // 安全出弹余量比例 - .nmax=18.0f, // 最大射频 Hz - .Hwarn=0.70f, // 预警阈值比例（70%） - .Hsatu=0.40f, // 饱和阈值比例（40%） - .Hthres=0.08f, // 停射阈值比例（8%） + .safe_shots=0.10f, // 安全出弹余量比例 + .nmax=15.0f, // 最大射频 Hz + .Hwarn=0.50f, // 预警阈值比例（70%） + .Hsatu=0.25f, // 饱和阈值比例（40%） + .Hthres=0.05f, // 停射阈值比例（8%） }, .motor={ .fric = { @@ -480,7 +480,7 @@ Config_RobotParam_t robot_config = { .climb = { .forward_speed = 1.5f, /* 上台阶前进速度 (m/s) */ - .theta_retract_threshold = 0.9f, /* 腿后摆收腿阈值 (rad)，约30° */ + .theta_retract_threshold = 0.98f, /* 腿后摆收腿阈值 (rad)，约30° */ .tp_scale = 0.08f, /* 摆力矩缩放：削弱到10%，让腿自由后摆 */ .settle_time_ms = 500, /* 收腿后稳定时间 (ms) */ }, diff --git a/User/module/shoot.c b/User/module/shoot.c index e596451..f157778 100644 --- a/User/module/shoot.c +++ b/User/module/shoot.c @@ -353,8 +353,8 @@ static int8_t Shoot_FuseHeatData(Shoot_t *s) s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */ } - /* 融合值就是裁判系统值（作为基准） */ - s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow; + /* 连射场景下，裁判数据存在刷新延迟；取更保守的热量用于限热 */ + s->heatcontrol.Hnow_fused = fmaxf(s->heatcontrol.Hnow, s->heatcontrol.Hnow_estimated); } else { /* 裁判系统数据无效，仅使用自主估计值 */ s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated; @@ -461,26 +461,8 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s) break; case SHOOT_HEAT_DETECT_CONFIRMED: - /* 确认发射状态：增加热量并返回准备状态 */ - /* 根据弹丸类型增加估计热量 */ - switch (s->param->basic.projectileType) { - case SHOOT_PROJECTILE_17MM: - s->heatcontrol.Hnow_estimated += 10.0f; - break; - case SHOOT_PROJECTILE_42MM: - s->heatcontrol.Hnow_estimated += 100.0f; - break; - default: - s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen; - break; - } - - /* 限制估计热量不超过最大值 */ - if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) { - s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax; - } - - /* 增加发射计数 */ + /* 确认发射状态：仅记录检测计数。 + * 估计热量在实际下发拨弹时已预扣，避免重复累加。 */ s->heatcontrol.shots_detected++; /* 返回准备检测状态 */ @@ -539,6 +521,15 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s) float nmax = s->param->heatControl.nmax; float ncd = s->heatcontrol.ncd; + if (nmax <= 0.0f) { + nmax = s->param->basic.shot_freq; + } + if (ncd < 0.0f) { + ncd = 0.0f; + } else if (ncd > nmax) { + ncd = nmax; + } + if (Hwarn <= 0.0f) { Hwarn = s->heatcontrol.Hmax * 0.7f; } @@ -609,6 +600,14 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); s->var_trig.num_toShoot--; s->var_trig.num_shooted++; + + /* 实际发射指令下发时，立刻预扣估计热量，抑制裁判数据延迟导致的超热。 */ + if (s->param->heatControl.enable && s->heatcontrol.ref_online && s->heatcontrol.Hgen > 0.0f) { + s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen; + if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) { + s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax; + } + } } return SHOOT_OK; diff --git a/User/module/shoot.h b/User/module/shoot.h index abd9c9a..5a32e8b 100644 --- a/User/module/shoot.h +++ b/User/module/shoot.h @@ -13,8 +13,8 @@ extern "C" { #include "component/pid.h" #include "device/motor_rm.h" /* Exported constants ------------------------------------------------------- */ -#define MAX_FRIC_NUM 6 -#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */ +#define MAX_FRIC_NUM 2 +#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */ #define SHOOT_OK (0) /* 运行正常 */ #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */ diff --git a/User/task/ctrl_shoot.c b/User/task/ctrl_shoot.c index a778670..7ded87e 100644 --- a/User/task/ctrl_shoot.c +++ b/User/task/ctrl_shoot.c @@ -38,13 +38,23 @@ static int print_shoot(const void *data, char *buf, size_t size) { " Fric1 : %.1f rpm (target: %.1f)\r\n" " Fric_Avg : %.1f rpm\r\n" " Trig : %.1f rpm (angle: %.2f deg)\r\n" - " Output : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n", + " Output : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n" + " Heat : online=%d Hnow=%.1f Hest=%.1f Hfused=%.1f Hres=%.1f Hmax=%.1f Hgen=%.1f ncd=%.2f avail=%u\r\n", shoot->running_state, shoot->feedback.fric[0].rotor_speed, shoot->target_variable.fric_rpm, shoot->feedback.fric[1].rotor_speed, shoot->target_variable.fric_rpm, shoot->var_fric.normalized_fil_avgrpm, shoot->feedback.trig.feedback.rotor_speed, shoot->feedback.trig.feedback.rotor_abs_angle, - shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig); + shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig, + shoot->heatcontrol.ref_online ? 1 : 0, + shoot->heatcontrol.Hnow, + shoot->heatcontrol.Hnow_estimated, + shoot->heatcontrol.Hnow_fused, + shoot->heatcontrol.Hres, + shoot->heatcontrol.Hmax, + shoot->heatcontrol.Hgen, + shoot->heatcontrol.ncd, + (unsigned int)shoot->heatcontrol.shots_available); return 0; } @@ -80,8 +90,20 @@ void Task_ctrl_shoot(void *argument) { shoot.heatcontrol.ref_online = true; 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.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; - shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */ + switch (shoot.param->basic.projectileType) { + case SHOOT_PROJECTILE_17MM: + shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat; + shoot.heatcontrol.Hgen = 10.0f; + break; + case SHOOT_PROJECTILE_42MM: + shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat; + shoot.heatcontrol.Hgen = 100.0f; + break; + default: + shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat; + shoot.heatcontrol.Hgen = 10.0f; + break; + } } else { shoot.heatcontrol.ref_online = false; }