98 lines
3.6 KiB
C
98 lines
3.6 KiB
C
/*
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ctrl_virtual_chassis Task - 使用虚拟底盘设备的示例任务
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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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#include "device/virtual_chassis.h"
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#include "module/config.h"
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#include "bsp/time.h"
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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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static Virtual_Chassis_t virtual_chassis;
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static bool chassis_enabled = false;
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static float test_torques[VIRTUAL_CHASSIS_MOTOR_COUNT] = {0.0f, 0.0f, 0.0f, 0.0f};
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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_virtual_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() / 100.0f; // 100Hz频率
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osDelay(500); /* 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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// 初始化虚拟底盘
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if (Virtual_Chassis_Init(&virtual_chassis, &Config_GetRobotParam()->virtual_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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// 使能底盘电机
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Virtual_Chassis_Enable(&virtual_chassis);
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chassis_enabled = true;
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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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// 更新虚拟底盘数据（接收反馈）
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Virtual_Chassis_Update(&virtual_chassis);
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// 检查设备在线状态
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if (Virtual_Chassis_IsOnline(&virtual_chassis)) {
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// 发送力矩控制命令（这里可以根据实际需要设置力矩值）
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if (chassis_enabled) {
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Virtual_Chassis_SendTorqueCommand(&virtual_chassis, test_torques);
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}
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// 获取电机反馈数据
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for (int i = 0; i < VIRTUAL_CHASSIS_MOTOR_COUNT; i++) {
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Virtual_Chassis_MotorFeedback_t *motor_fb = Virtual_Chassis_GetMotorFeedback(&virtual_chassis, i);
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if (motor_fb != NULL && motor_fb->online) {
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// 这里可以使用电机反馈数据
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// 例如：发送到其他任务或用于控制算法
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// motor_fb->current_angle, motor_fb->current_velocity, motor_fb->current_torque
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}
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}
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// 获取IMU反馈数据
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Virtual_Chassis_IMUFeedback_t *imu_fb = Virtual_Chassis_GetIMUFeedback(&virtual_chassis);
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if (imu_fb != NULL && imu_fb->online) {
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// 这里可以使用IMU数据替换原有的陀螺仪数据
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// 例如：将数据发送给底盘控制任务
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Chassis_IMU_t chassis_imu = {
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.accl = imu_fb->accl,
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.gyro = imu_fb->gyro,
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.euler = imu_fb->euler,
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};
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// 发送IMU数据到底盘控制任务
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osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu, 0, 0);
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}
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} else {
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// 设备离线，重新使能
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if (chassis_enabled) {
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Virtual_Chassis_Enable(&virtual_chassis);
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}
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}
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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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} |