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Xiaocheng 2026-01-13 11:11:19 +08:00
parent 88acd92609
commit 72a4e5b073
9 changed files with 137 additions and 11 deletions
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5
User/module/cmd.c
View File

@ -146,15 +146,19 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
{
case CMD_SW_UP:
g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
s_cmd->control_mode=SHOOT_REMOTE;
break;
case CMD_SW_MID:
g_cmd->ctrl_mode = GIMBAL_MODE_AI;
s_cmd->control_mode=SHOOT_AI;
break;
case CMD_SW_DOWN:
g_cmd->ctrl_mode = GIMBAL_MODE_AI;
s_cmd->control_mode=SHOOT_AI;
break;
case CMD_SW_ERR:
g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
s_cmd->control_mode=SHOOT_REMOTE;
break;
}
@ -191,6 +195,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
}
switch(rc->ET16s.key_D)
{
case CMD_SW_UP:
s_cmd->firecmd = false;
s_cmd->ready = false;

6
User/module/cmd.h
View File

@ -126,8 +126,14 @@ typedef enum {
SHOOT_MODE_NUM
}Shoot_Mode_t;
typedef enum{
SHOOT_REMOTE,
SHOOT_AI
}Shoot_CONTROL_Mode_t;
typedef struct {
Shoot_Mode_t mode;/* 射击模式 */
Shoot_CONTROL_Mode_t control_mode;
bool ready; /* 准备射击 */
bool firecmd; /* 射击 */
}Shoot_CMD_t;

30
User/module/config.c
View File

@ -165,10 +165,19 @@ static const Config_Param_t config = {
// .d_cutoff_freq = 0.0f,
// .range = M_2PI
/*上面一组pid会导致电机超调，可能是因为pid计算错误，正在进行重新修改pid*/
// .k = 2.0f,
// .p = 5.0f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 10.0f,
// .d_cutoff_freq = 0.0f,
// .range = M_2PI
.k = 2.0f,
.p = 5.0f,
.i = 0.0f,
.d = 0.0f,
.p = 7.0f,
.i = 0.5f,
.d = 1.0f,
.i_limit = 1.0f,
.out_limit = 10.0f,
.d_cutoff_freq = 0.0f,
@ -185,8 +194,17 @@ static const Config_Param_t config = {
// .d_cutoff_freq = -1.0f,
// .range = -1.0f
// .k = 0.35f,
// .p = 0.3f,
// .i = 0.0f,
// .d = 0.0f,
// .i_limit = 1.0f,
// .out_limit = 1.0f,
// .d_cutoff_freq = -1.0f,
// .range = -1.0f
.k = 0.35f,
.p = 0.3f,
.p = 0.35f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
@ -253,8 +271,8 @@ static const Config_Param_t config = {
},
.trig_2006={
.k=0.5f,
.p=0.5f,
.k=0.7f,
.p=0.7f,
.i=0.5f,
.d=0.05f,
.i_limit=0.2f,

2
User/module/gimbal.c
View File

@ -377,7 +377,7 @@ void Gimbal_Output(Gimbal_t *g)
MOTOR_MIT_Output_t output_yaw_4310 = {0};
output_yaw_4310.torque = g->out.yaw_4310 * 1.0f;
output_yaw_4310.kd = 0.1f;
output_yaw_4310.kd = 0.2f;
// output_yaw_4310.kd=0.1f;
MOTOR_MIT_Output_t output_pitch_4310 = {0};

74
User/task/Task8.c
View File

@ -6,6 +6,9 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "bsp/can.h"
#include "device/motor_rm.h"
#include "component/pid.h"
/* USER INCLUDE END */
@ -14,7 +17,57 @@
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
MOTOR_RM_t motor_6020;
MOTOR_RM_t motor_3508;
MOTOR_RM_Param_t motor_6020_param = {
.can = BSP_CAN_1,
.id = 0x205,
.module = MOTOR_GM6020,
.reverse = false,
.gear = false,
};
MOTOR_RM_Param_t motor_3508_param = {
.can = BSP_CAN_1,
.id = 0x201,
.module = MOTOR_M3508,
.reverse = false,
.gear = false,
};
KPID_t motor_6020_speed;
KPID_t motor_3508_angle;
KPID_t motor_3508_omega;
KPID_Params_t motor_6020_speed_param = {
.k = 0.1f,
.p = 0.2f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
KPID_Params_t motor_3508_angle_param = {
.k = 1.0f,
.p = 5.0f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
KPID_Params_t motor_3508_omega_param = {
.k = 1.0f,
.p = 5.0f,
.i = 0.1f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
.d_cutoff_freq = 30.0f,
};
float motor_3508_target_angle = 5*M_2PI;
float motor_6020_target_speed = 33.0f;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -30,13 +83,34 @@ void Task_Task8(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
BSP_CAN_Init();
MOTOR_RM_Register( &motor_6020_param);
MOTOR_RM_Register(&motor_3508_param);
PID_Init(&motor_6020_speed, KPID_MODE_CALC_D, TASK8_FREQ, &motor_6020_speed_param);
PID_Init(&motor_3508_angle, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_angle_param);
PID_Init(&motor_3508_omega, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_omega_param);
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
MOTOR_RM_UpdateAll();
motor_6020.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_6020_param)->motor)) );
motor_3508.feedback.rotor_abs_angle= MOTOR_RM_GetMotor(&motor_3508_param)->gearbox_total_angle;
motor_3508.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_3508_param)->motor)) );
float motor_6020out,motor_3508_ommega,motor_3508_out;
motor_6020out = PID_Calc(&motor_6020_speed, motor_6020_target_speed, motor_6020.feedback.rotor_speed, 0.0f,0.0f);
// motor_3508_ommega = PID_Calc(&motor_3508_omega, motor_3508_target_angle, motor_3508.feedback.rotor_abs_angle, 0.0f,0.0f);
// motor_3508_out = PID_Calc(&motor_3508_angle, motor_3508_ommega, motor_3508.feedback.rotor_speed, 0.0f,0.0f);
MOTOR_RM_SetOutput(&motor_6020_param, motor_6020out);
MOTOR_RM_Ctrl(&motor_6020_param);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

3
User/task/ai.c
View File

@ -49,6 +49,9 @@ void Task_ai(void *argument) {
AI_Get_NUC(&ai,&ai_cmd);
osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);
osMessageQueueReset(task_runtime.msgq.gimbal.ai.s_cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.ai.s_cmd, &ai_cmd, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

4
User/task/init.c
View File

@ -38,7 +38,7 @@ void Task_Init(void *argument) {
task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
// task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
// 创建消息队列
/* USER MESSAGE BEGIN */
@ -54,7 +54,7 @@ void Task_Init(void *argument) {
task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
task_runtime.msgq.gimbal.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核

23
User/task/shoot.c
View File

@ -8,7 +8,7 @@
/* USER INCLUDE BEGIN */
#include "module/shoot.h"
#include "module/config.h"
#include "device/ai.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -18,6 +18,7 @@
/* USER STRUCT BEGIN */
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
AI_cmd_t shoot_ai_cmd;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -42,8 +43,26 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
if(shoot_cmd.control_mode==SHOOT_REMOTE)
{
//do nothing，使用遥控器的指令
}
else if(shoot_cmd.control_mode==SHOOT_AI)
{
if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
{
shoot_cmd.firecmd=false;
shoot_cmd.ready=true;
}
else if(shoot_ai_cmd.mode==2)
{
shoot_cmd.firecmd=true;
shoot_cmd.ready=true;
}
}
Shoot_UpdateFeedback(&shoot);
Shoot_SetMode(&shoot,shoot_cmd.mode);

1
User/task/user_task.h
View File

@ -91,6 +91,7 @@ typedef struct {
osMessageQueueId_t quat;
osMessageQueueId_t feedback;
osMessageQueueId_t g_cmd;
osMessageQueueId_t s_cmd;
}ai;
/* 新增的 ai 消息队列 主要是给自瞄*/
} gimbal;