119 lines
3.2 KiB
C
119 lines
3.2 KiB
C
/*
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ctrl_chassis Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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<<<<<<< HEAD
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#include "module/balance_chassis.h"
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#include "module/config.h"
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=======
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#include "bsp/can.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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#include "module/config.h"
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#include "module/balance_chassis.h"
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>>>>>>> main
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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<<<<<<< HEAD
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Chassis_t chassis; // 底盘实例
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=======
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Chassis_t chassis;
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Chassis_CMD_t chassis_cmd = {
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.mode = CHASSIS_MODE_RECOVER, // 改为RECOVER模式，让电机先启动
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.move_vec = {
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.vx = 0.0f,
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.vy = 0.0f,
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.wz = 0.0f,
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},
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.height = 0.0f,
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};
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Chassis_IMU_t chassis_imu;
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Chassis_t chassis1;
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>>>>>>> main
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_chassis(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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<<<<<<< HEAD
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// 使用配置参数初始化底盘
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Config_RobotParam_t *robot_param = Config_GetRobotParam();
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Chassis_Param_t chassis_param = {
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.joint_param = {
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robot_param->joint_param[0],
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robot_param->joint_param[1],
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robot_param->joint_param[2],
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robot_param->joint_param[3]
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},
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.wheel_param = {
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robot_param->wheel_param[0],
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robot_param->wheel_param[1]
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}
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};
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// 初始化底盘
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if (Chassis_Init(&chassis, &chassis_param) != DEVICE_OK) {
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// 初始化失败处理
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return;
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}
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// 使能底盘
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Chassis_Enable(&chassis);
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=======
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Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
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>>>>>>> main
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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<<<<<<< HEAD
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// 更新底盘数据
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Chassis_Update(&chassis);
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// 处理底盘控制（包括CAN通信）
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Chassis_Ctrl(&chassis);
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=======
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if (osMessageQueueGet(task_runtime.msgq.chassis_imu, &chassis_imu, NULL, 0) == osOK) {
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chassis.feedback.imu = chassis_imu;
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}
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if (osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
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// 成功接收到命令，更新底盘命令
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}
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Chassis_UpdateFeedback(&chassis);
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Chassis_Control(&chassis, &chassis_cmd);
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>>>>>>> main
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |