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fishoot

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Robofish 2026-03-19 08:33:44 +08:00
parent c72de9e0c3
commit eea0a5a3d3
3 changed files with 16 additions and 11 deletions
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3
User/module/cmd/cmd.c
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@ -3,6 +3,7 @@
*/ */
#include "cmd.h" #include "cmd.h"
#include "bsp/time.h" #include "bsp/time.h"
#include "module/shoot.h"
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
@ -68,7 +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_BURST; ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
} else { } else {
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE; ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
} }

2
User/module/config.c
View File

@ -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=1.0f, .shot_freq=18.0f,
.shot_burst_num=3, .shot_burst_num=3,
.ratio_multilevel = {1.0f}, .ratio_multilevel = {1.0f},
}, },

22
User/module/shoot.c
View File

@ -519,10 +519,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
float dt = s->timer.now - s->var_trig.time_lastShoot; float dt = s->timer.now - s->var_trig.time_lastShoot;
float dpos; float dpos;
float dpos_abs;
dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);
dpos_abs = fabs(dpos);
/* 使用热量控制计算出的射频，而不是配置的固定射频 */ /* 使用热量控制计算出的射频，而不是配置的固定射频 */
if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos<=1.0f) if(actual_freq > 0.0f && dt >= 1.0f/actual_freq && cmd->firecmd && dpos_abs<=1.0f)
{ {
s->var_trig.time_lastShoot=s->timer.now; s->var_trig.time_lastShoot=s->timer.now;
CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI); CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
@ -720,6 +721,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
else if(last_firecmd==false&&cmd->firecmd==true) else if(last_firecmd==false&&cmd->firecmd==true)
{ {
s->running_state=SHOOT_STATE_FIRE; s->running_state=SHOOT_STATE_FIRE;
s->target_variable.trig_angle=s->var_trig.trig_agl;
/* 根据模式设置待发射弹数 */ /* 根据模式设置待发射弹数 */
switch(s->mode) switch(s->mode)
{ {
@ -786,6 +788,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{ {
s->running_state=SHOOT_STATE_READY; s->running_state=SHOOT_STATE_READY;
pos=s->var_trig.trig_agl; pos=s->var_trig.trig_agl;
s->target_variable.trig_angle=pos;
s->var_trig.num_toShoot=0; s->var_trig.num_toShoot=0;
} }
break; break;
@ -796,12 +799,12 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
} }
} }
/* 输出 */ /* 输出 */
// MOTOR_RM_Ctrl(&s->param->motor.fric[0].param); MOTOR_RM_Ctrl(&s->param->motor.fric[0].param);
// if(s->param->basic.fric_num>4) if(s->param->basic.fric_num>4)
// { {
// MOTOR_RM_Ctrl(&s->param->motor.fric[4].param); MOTOR_RM_Ctrl(&s->param->motor.fric[4].param);
// } }
// MOTOR_RM_Ctrl(&s->param->motor.trig); MOTOR_RM_Ctrl(&s->param->motor.trig);
last_firecmd = cmd->firecmd; last_firecmd = cmd->firecmd;
return SHOOT_OK; return SHOOT_OK;
} }
@ -849,7 +852,8 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
/* 清空待发射弹 */ /* 清空待发射弹 */
s->var_trig.num_toShoot=0; s->var_trig.num_toShoot=0;
/* 修改拨弹盘目标角度 */ /* 修改拨弹盘目标角度 */
s->target_variable.trig_angle = s->var_trig.trig_agl-(M_2PI/s->param->basic.num_trig_tooth); s->target_variable.trig_angle = s->var_trig.trig_agl;
CircleAdd((&s->target_variable.trig_angle), -(M_2PI/s->param->basic.num_trig_tooth), M_2PI)
/* 切换状态 */ /* 切换状态 */
s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL; s->jamdetection.fsmState = SHOOT_JAMFSM_STATE_DEAL;
/* 记录处理开始时间 */ /* 记录处理开始时间 */