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更新shoot

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This commit is contained in:
Robofish 2025-10-02 01:19:13 +08:00
parent d0727de06f
commit f641fe4051
7 changed files with 307 additions and 128 deletions
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29
User/device/motor_dm.h
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@ -43,7 +43,7 @@ typedef struct {
/* Exported functions prototypes -------------------------------------------- */
/**
* @brief 注册一个LK电机
* @brief 注册一个DM电机
* @param param 电机参数
* @return
*/
@ -62,11 +62,31 @@ int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param);
*/
int8_t MOTOR_DM_UpdateAll(void);
/**
* @brief MIT模式控制电机
* @param param 电机参数
* @param output MIT控制输出参数
* @return 操作结果，0为成功，负值为失败
*/
int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output);
/**
* @brief 位置速度双环控制电机
* @param param 电机参数
* @param target_pos 目标位置
* @param target_vel 目标速度
* @return 操作结果，0为成功，负值为失败
*/
int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
/**
* @brief 位置速度双环控制电机
* @param param 电机参数
* @param target_pos 目标位置
* @param target_vel 目标速度
* @return 操作结果，0为成功，负值为失败
*/
int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
/**
* @brief 获取指定电机的实例指针
@ -75,6 +95,11 @@ int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
*/
MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param);
/**
* @brief 使能电机
* @param param 电机参数
* @return 操作结果，0为成功，负值为失败
*/
int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param);
/**

12
User/device/motor_rm.c
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@ -139,13 +139,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
motor->feedback.rotor_speed = rotor_speed;
motor->feedback.torque_current = torque_current;
}
while (motor->feedback.rotor_abs_angle < 0) {
motor->feedback.rotor_abs_angle += M_2PI;
}
while (motor->feedback.rotor_abs_angle >= M_2PI) {
motor->feedback.rotor_abs_angle -= M_2PI;
}
if (motor->motor.reverse) {
while (motor->feedback.rotor_abs_angle < 0) {
motor->feedback.rotor_abs_angle += M_2PI;
}
while (motor->feedback.rotor_abs_angle >= M_2PI) {
motor->feedback.rotor_abs_angle -= M_2PI;
}
motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
motor->feedback.torque_current = -motor->feedback.torque_current;

35
User/module/config.c
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@ -23,6 +23,8 @@
Config_RobotParam_t robot_config = {
.shoot_param = {
.trig_step_angle=M_2PI/8,
.shot_delay_time=0.05f,
.shot_burst_num=1,
.fric_motor_param[0] = {
.can = BSP_CAN_2,
.id = 0x201,
@ -41,7 +43,7 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M2006,
.reverse = false,
.reverse = true,
.gear=true,
},
.fric_follow = {
@ -54,6 +56,7 @@ Config_RobotParam_t robot_config = {
.d_cutoff_freq=30.0f,
.range=-1.0f,
},
.fric_err = {
.k=1.0f,
.p=4.0f,
@ -64,15 +67,25 @@ Config_RobotParam_t robot_config = {
.d_cutoff_freq=40.0f,
.range=-1.0f,
},
.trig_omg = {
.k=1.0f,
.p=1.5f,
.i=0.3f,
.d=0.5f,
.i_limit=0.2f,
.out_limit=0.9f,
.d_cutoff_freq=-1.0f,
.range=-1.0f,
},
.trig = {
.k=1.0f,
.p=1.2f,
.i=0.0f,
.p=1.0f,
.i=0.1f,
.d=0.05f,
.i_limit=0.2f,
.out_limit=0.9f,
.d_cutoff_freq=30.0f,
.range=-1.0f,
.i_limit=0.8f,
.out_limit=0.5f,
.d_cutoff_freq=-1.0f,
.range=M_2PI,
},
.filter.fric = {
.in = 30.0f,
@ -82,13 +95,13 @@ Config_RobotParam_t robot_config = {
.in = 30.0f,
.out = 30.0f,
},
},
.gimbal_param = {
.pid = {
.yaw_omega = {
.k = 0.5f,
.k = 1.0f,
.p = 1.0f,
.i = 0.5f,
.d = 0.0f,
@ -101,7 +114,7 @@ Config_RobotParam_t robot_config = {
.k = 10.0f,
.p = 3.0f,
.i = 0.0f,
.d = 0.1f,
.d = 0.0f,
.i_limit = 0.0f,
.out_limit = 10.0f,
.d_cutoff_freq = -1.0f,
@ -130,7 +143,7 @@ Config_RobotParam_t robot_config = {
},
.mech_zero = {
.yaw = 0.0f,
.pit = 3.8f,
.pit = 1.77f,
},
.travel = {
.yaw = -1.0f,

5
User/module/gimbal.c
View File

@ -159,7 +159,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
Gimbal_SetMode(g, g_cmd->mode);
/* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
float delta_yaw = g_cmd->delta_yaw * g->dt;
float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
if (g->param->travel.yaw > 0) {
/* 计算当前电机角度与IMU角度的偏差 */
float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
@ -239,7 +239,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
void Gimbal_Output(Gimbal_t *g){
MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
MOTOR_MIT_Output_t output = {0};
output.torque = g->out.yaw * 2.5;
output.torque = g->out.yaw * 6.0f; // 乘以减速比
output.kd = 0.5f;
MOTOR_RM_Ctrl(&g->param->pit_motor);
MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
}

307
User/module/shoot.c
View File

@ -1,16 +1,13 @@
#include "shoot.h"
#include "bsp/can.h"
#include "component/filter.h"
#include <string.h>
// #include
#include "can.h"
#include "component/filter.h"
#include "component/user_math.h"
#include <math.h>
#include "bsp/time.h"
uint32_t shoot_ctrl_cnt_last;
float shoot_ctrl_dt;
bool last_firecmd=false;
static bool last_firecmd;
static inline void ScaleSumTo1(float *a, float *b) {
float sum = *a + *b;
@ -21,149 +18,281 @@ static inline void ScaleSumTo1(float *a, float *b) {
}
}
int8_t Shoot_Init(Shoot_t *c, Shoot_Params_t *param, float target_freq)
int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
{
if (c == NULL || param == NULL || target_freq <= 0.0f) {
if (s == NULL) {
return -1; // 参数错误
}
c->param=param;
BSP_CAN_Init();
memset(&c->feedback, 0, sizeof(c->feedback));
s->mode=mode;
return 0;
}
int8_t Shoot_ResetIntegral(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_ResetIntegral(&s->pid.fric_follow[i]);
PID_ResetIntegral(&s->pid.fric_err[i]);
}
PID_ResetIntegral(&s->pid.trig);
PID_ResetIntegral(&s->pid.trig_omg);
return 0;
}
int8_t Shoot_ResetCalu(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_Reset(&s->pid.fric_follow[i]);
PID_Reset(&s->pid.fric_err[i]);
LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
}
PID_Reset(&s->pid.trig);
PID_Reset(&s->pid.trig_omg);
LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
return 0;
}
int8_t Shoot_ResetOutput(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
s->output.out_follow[i]=0.0f;
s->output.out_err[i]=0.0f;
s->output.out_fric[i]=0.0f;
s->output.lpfout_fric[i]=0.0f;
}
s->output.outagl_trig=0.0f;
s->output.outomg_trig=0.0f;
s->output.outlpf_trig=0.0f;
return 0;
}
int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
{
if (s == NULL) {
return -1; // 参数错误
}
s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
return 0;
}
/**
* \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
*
* \param s 包含发射数据的结构体
* \param num 需要发射的弹丸数量
*/
int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || s->shoot_Anglecalu.num_to_shoot == 0) {
return -1;
}
if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
{
s->shoot_Anglecalu.time_last_shoot=s->now;
s->target_variable.target_angle += s->param->trig_step_angle;
if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
s->shoot_Anglecalu.num_to_shoot--;
}
return 0;
}
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
{
if (s == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
}
s->param=param;
BSP_CAN_Init();
for(int i=0;i<SHOOT_FRIC_NUM;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]);
PID_Init(&c->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
LowPassFilter2p_Init(&c->filter.fric.in[i], target_freq, c->param->filter.fric.in);
LowPassFilter2p_Init(&c->filter.fric.out[i], target_freq, c->param->filter.fric.out);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
}
MOTOR_RM_Register(&param->trig_motor_param);
PID_Init(&c->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
LowPassFilter2p_Init(&c->filter.trig.in, target_freq, c->param->filter.trig.in);
LowPassFilter2p_Init(&c->filter.trig.out, target_freq, c->param->filter.trig.out);
PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
memset(&s->output,0,sizeof(s->output));
s->target_variable.target_rpm=4000.0f;
return 0;
}
int8_t Chassis_UpdateFeedback(Shoot_t *c)
int8_t Chassis_UpdateFeedback(Shoot_t *s)
{
if (c == NULL) {
if (s == NULL) {
return -1; // 参数错误
}
float rpm_sum=0.0f;
for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
MOTOR_RM_Update(&c->param->fric_motor_param[i]);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&c->param->fric_motor_param[i]);
/* 更新摩擦电机反馈 */
MOTOR_RM_Update(&s->param->fric_motor_param[i]);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
if(motor_fed!=NULL)
{
c->feedback.fric[i]=motor_fed->motor.feedback;
s->feedback.fric[i]=motor_fed->motor.feedback;
}
c->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&c->filter.fric.in[i], c->feedback.fric[i].rotor_speed);
c->feedback.fric_rpm[i] = c->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
if(c->feedback.fric_rpm[i]>1.0f)c->feedback.fric_rpm[i]=1.0f;
if(c->feedback.fric_rpm[i]<-1.0f)c->feedback.fric_rpm[i]=-1.0f;
rpm_sum+=c->feedback.fric_rpm[i];
/* 滤波反馈rpm */
s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
/* 归一化rpm */
s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
/* 计算平均rpm */
rpm_sum+=s->feedback.fric_rpm[i];
}
c->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
MOTOR_RM_Update(&c->param->trig_motor_param);
c->feedback.trig = MOTOR_RM_GetMotor(&c->param->trig_motor_param);
//
c->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&c->filter.trig.in, c->feedback.trig->feedback.rotor_speed);
c->feedback.trig_rpm = c->feedback.trig->feedback.rotor_speed / MAX_TRIG_RPM;
if(c->feedback.trig_rpm>1.0f)c->feedback.trig_rpm=1.0f; //如果单环效果好就删
if(c->feedback.trig_rpm<-1.0f)c->feedback.trig_rpm=-1.0f;
//
c->errtosee = c->feedback.fric[0].rotor_speed - c->feedback.fric[1].rotor_speed;
s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
/* 更新拨弹电机反馈 */
MOTOR_RM_Update(&s->param->trig_motor_param);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
if(motor_fed!=NULL)
{
s->feedback.trig=motor_fed->feedback;
}
/* 将多圈角度归化到单圈 (-M_PI, M_PI) */
s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
if (s->feedback.trig_angle_cicle > M_PI) {
s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
}else if (s->feedback.trig_angle_cicle < -M_PI) {
s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
}
s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f; //如果单环效果好就删
if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
return 0;
}
int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd)
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (c == NULL || cmd == NULL) {
if (s == NULL || cmd == NULL) {
return -1; // 参数错误
}
c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f;
c->lask_wakeup = BSP_TIME_Get_us();
c->online = cmd->online;
if(!c->online /*|| c->mode==SHOOT_MODE_SAFE*/){
s->now = BSP_TIME_Get_us() / 1000000.0f;
s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup = BSP_TIME_Get_us();
s->online = cmd->online;
if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
MOTOR_RM_Relax(&c->param->fric_motor_param[i]);
MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
}
MOTOR_RM_Relax(&c->param->trig_motor_param);
MOTOR_RM_Relax(&s->param->trig_motor_param);
}
else{
switch(c->running_state)
switch(s->running_state)
{
case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_ResetIntegral(&c->pid.fric_follow[i]);
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],0.0f,c->feedback.fric_rpm[i],0,c->dt);
c->output.out_fric[i]=c->output.out_follow[i];
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
PID_ResetIntegral(&s->pid.fric_follow[i]);
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_fric[i]=s->output.out_follow[i];
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
if(cmd->ready)
{
c->running_state=SHOOT_STATE_READY;
{
Shoot_ResetCalu(s);
Shoot_ResetIntegral(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_READY;
}
break;
case SHOOT_STATE_READY:/*准备射击*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{ /* 计算跟随输出->计算修正输出->加和、滤波、输出 */
// c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],c->target_variable.target_rpm/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],3000.0f/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
c->output.out_err[i]=PID_Calc(&c->pid.fric_err[i],c->feedback.fric_avgrpm,c->feedback.fric_rpm[i],0,c->dt);
ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);
c->output.out_fric[i]=c->output.out_follow[i]+c->output.out_err[i];
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
/* 按比例缩放并加和输出 */
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
/* 拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
/* 检查状态机 */
if(!cmd->ready)
{
c->running_state=SHOOT_STATE_IDLE;
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_IDLE;
}
else if(cmd->last_firecmd==false&&cmd->firecmd==true)//可以加一个到达目标速度的判断
else if(last_firecmd==false&&cmd->firecmd==true)
{
c->running_state=SHOOT_STATE_FIRE;
c->target_variable.target_angle-=c->param->trig_step_angle;
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_FIRE;
s->shoot_Anglecalu.num_to_shoot+=s->param->shot_burst_num;
}
break;
case SHOOT_STATE_FIRE:
// c->target_variable.target_angle+=c->param->trig_step_angle;
Shoot_CaluTargetAngle(s, cmd);
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
// c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],c->target_variable.target_rpm/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
c->output.out_follow[i]=PID_Calc(&c->pid.fric_follow[i],3000.0f/MAX_FRIC_RPM,c->feedback.fric_rpm[i],0,c->dt);
c->output.out_err[i]=PID_Calc(&c->pid.fric_err[i],c->feedback.fric_avgrpm,c->feedback.fric_rpm[i],0,c->dt);
ScaleSumTo1(&c->output.out_follow[i], &c->output.out_err[i]);
c->output.out_fric[i]=c->output.out_follow[i]+c->output.out_err[i];
c->output.lpfout_fric[i] = LowPassFilter2p_Apply(&c->filter.fric.out[i], c->output.out_fric[i]);
MOTOR_RM_SetOutput(&c->param->fric_motor_param[i], c->output.lpfout_fric[i]);
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
c->output.out_trig=PID_Calc(&c->pid.trig,c->target_variable.target_angle,c->feedback.trig->gearbox_total_angle,0,c->dt);
MOTOR_RM_SetOutput(&c->param->trig_motor_param, c->output.out_trig);
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
if(!cmd->firecmd)
{
c->running_state=SHOOT_STATE_READY;
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_READY;
}
break;
default:
c->running_state=SHOOT_STATE_IDLE;
s->running_state=SHOOT_STATE_IDLE;
break;
}
}
MOTOR_RM_Ctrl(&c->param->fric_motor_param[0]);
// BSP_TIME_Delay_us(200);
MOTOR_RM_Ctrl(&c->param->trig_motor_param);
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->trig_motor_param);
last_firecmd = cmd->firecmd;
return 0;
}

43
User/module/shoot.h
View File

@ -23,7 +23,7 @@ extern "C" {
#define SHOOT_FRIC_NUM (2) /* 摩擦轮数量 */
#define MAX_FRIC_RPM 7000.0f
#define MAX_TRIG_RPM 1000.0f
#define MAX_TRIG_RPM 5000.0f
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
@ -45,23 +45,28 @@ typedef struct {
bool ready; /* 准备射击 */
bool firecmd; /* 射击指令 */
bool last_firecmd;
} Shoot_CMD_t;
typedef struct {
MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */
MOTOR_RM_t *trig; /* 拨弹电机反馈 */
MOTOR_Feedback_t trig; /* 拨弹电机反馈 */
float fil_fric_rpm[SHOOT_FRIC_NUM]; /* 滤波后的摩擦轮转速 */
float fil_trig_rpm; /* 滤波后的拨弹电机转速*/
float trig_angle_cicle; /* 拨弹电机减速输出轴单圈角度（0~M_2PI） */
float fric_rpm[SHOOT_FRIC_NUM]; /* 归一化摩擦轮转速 */
float fric_avgrpm; /* 归一化摩擦轮平均转速*/
float trig_rpm; /* 归一化拨弹电机转速*/
}Shoot_Feedback_t;
typedef struct{
float time_last_shoot;
uint8_t num_to_shoot;
uint8_t num_shooted;
}Shoot_AngleCalu_t;
typedef struct {
float out_follow[SHOOT_FRIC_NUM];
float out_err[SHOOT_FRIC_NUM];
@ -69,14 +74,17 @@ typedef struct {
float lpfout_fric[SHOOT_FRIC_NUM];
float out_trig;
float lpfout_trig;
float outagl_trig;
float outomg_trig;
float outlpf_trig;
}Shoot_Output_t;
/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
typedef struct {
float trig_step_angle; /* 每次拨弹电机转动的角度 */
float trig_step_angle; /* 每发弹丸拨弹电机转动的角度 */
float shot_delay_time; /* 射击间隔时间，单位秒 */
uint8_t shot_burst_num; /* 多发模式下一次射击的发数 */
MOTOR_RM_Param_t fric_motor_param[SHOOT_FRIC_NUM];
MOTOR_RM_Param_t trig_motor_param;
@ -85,7 +93,7 @@ typedef struct {
KPID_Params_t fric_follow; /* 摩擦轮电机PID控制参数，用于跟随目标速度 */
KPID_Params_t fric_err; /* 摩擦轮电机PID控制参数，用于消除转速误差 */
KPID_Params_t trig; /* 拨弹电机PID控制参数 */
KPID_Params_t trig_omg; /* 拨弹电机PID控制参数 */
/* 低通滤波器截止频率 */
struct {
@ -107,8 +115,9 @@ typedef struct {
typedef struct {
bool online;
float now;
uint64_t lask_wakeup;
float dt;
float dt;
Shoot_Params_t *param; /* */
/* 模块通用 */
@ -117,6 +126,7 @@ typedef struct {
/* 反馈信息 */
Shoot_Feedback_t feedback;
/* 控制信息*/
Shoot_AngleCalu_t shoot_Anglecalu;
Shoot_Output_t output;
/* 目标控制量 */
struct {
@ -129,6 +139,7 @@ typedef struct {
KPID_t fric_follow[SHOOT_FRIC_NUM]; /* */
KPID_t fric_err[SHOOT_FRIC_NUM]; /* */
KPID_t trig;
KPID_t trig_omg;
} pid;
/* 滤波器 */
@ -152,32 +163,32 @@ typedef struct {
/**
* \brief 初始化发射
*
* \param c 包含发射数据的结构体
* \param s 包含发射数据的结构体
* \param param 包含发射参数的结构体指针
* \param target_freq 任务预期的运行频率
*
* \return 函数运行结果
*/
int8_t Shoot_Init(Shoot_t *c, Shoot_Params_t *param, float target_freq);
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq);
/**
* \brief 更新反馈
*
* \param c 包含发射数据的结构体
* \param s 包含发射数据的结构体
*
* \return 函数运行结果
*/
int8_t Chassis_UpdateFeedback(Shoot_t *c);
int8_t Chassis_UpdateFeedback(Shoot_t *s);
/**
* \brief 初始化发射
*
* \param c 包含发射数据的结构体
* \param s 包含发射数据的结构体
* \param cmd 包含发射命令的结构体
*
* \return 函数运行结果
*/
int8_t Shoot_Control(Shoot_t *c, const Shoot_CMD_t *cmd);
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd);

4
debug.jdebug
View File

@ -22,12 +22,12 @@ void OnProjectLoad (void) {
//
// Dialog-generated settings
//
Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
Project.SetDevice ("STM32F407IG");
Project.SetHostIF ("USB", "207400620");
Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("4 MHz");
Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
//
// User settings