90 lines
3.5 KiB
C
90 lines
3.5 KiB
C
/*
|
||
rc Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "device/dr16.h"
|
||
#include "module/balance_chassis.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
DR16_t dr16;
|
||
Chassis_CMD_t cmd_to_chassis;
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_rc(void *argument) {
|
||
(void)argument; /* 未使用argument，消除警告 */
|
||
|
||
|
||
/* 计算任务运行到指定频率需要等待的tick数 */
|
||
const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ;
|
||
|
||
osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
|
||
|
||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||
/* USER CODE INIT BEGIN */
|
||
DR16_Init(&dr16);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
DR16_StartDmaRecv(&dr16);
|
||
if (DR16_WaitDmaCplt(20)) {
|
||
// 根据左拨杆设置底盘模式
|
||
switch (dr16.data.sw_l) {
|
||
case 1: // 上位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
case 3: // 中位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
|
||
break;
|
||
case 2: // 下位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
|
||
break;
|
||
default:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
}
|
||
|
||
// 解析遥控器摇杆数据为运动向量
|
||
// 将遥控器通道值从[364, 1684]映射到[-1.0, 1.0]
|
||
float ch_l_y_norm = (float)(dr16.data.ch_l_y - 1024) / 660.0f; // 前后
|
||
float ch_l_x_norm = (float)(dr16.data.ch_l_x - 1024) / 660.0f; // 左右
|
||
float ch_r_x_norm = (float)(dr16.data.ch_r_y - 1024) / 660.0f; // 旋转
|
||
|
||
// 设置运动向量（根据需要调整增益）
|
||
cmd_to_chassis.move_vec.vx = ch_l_y_norm * 2.0f; // 前后运动，增益可调
|
||
cmd_to_chassis.move_vec.vy = ch_l_x_norm * 2.0f; // 左右运动，增益可调
|
||
cmd_to_chassis.move_vec.wz = ch_r_x_norm * 3.0f; // 旋转运动，增益可调
|
||
|
||
// 设置目标高度（可根据右拨杆或其他输入调整）
|
||
cmd_to_chassis.height = dr16.data.res-1024; // 目标高度，范围[-1024, 1024]，可根据需要调整比例
|
||
|
||
// 发送命令到底盘控制任务
|
||
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
|
||
|
||
} else {
|
||
// 超时处理，发送安全命令
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
cmd_to_chassis.move_vec.vx = 0.0f;
|
||
cmd_to_chassis.move_vec.vy = 0.0f;
|
||
cmd_to_chassis.move_vec.wz = 0.0f;
|
||
cmd_to_chassis.height = 0.0f;
|
||
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
|
||
}
|
||
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |