User/module/cmd.c

@@ -146,19 +146,15 @@ 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;
         }
 
@@ -187,7 +183,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
                 s_cmd->mode = SHOOT_MODE_SINGLE;
                 break;
             case CMD_SW_DOWN:
-                s_cmd->mode = SHOOT_MODE_BURST;
+                s_cmd->mode = SHOOT_MODE_CONTINUE;
                 break;
             case CMD_SW_ERR:
                 s_cmd->mode = SHOOT_MODE_SAFE;
@@ -195,7 +191,6 @@ 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;

User/module/cmd.h

@@ -126,14 +126,8 @@ 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;

User/module/config.c

@@ -165,19 +165,10 @@ 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 = 7.0f, 
+            .p = 5.0f, 
-            .i = 0.5f, 
+            .i = 0.0f, 
-            .d = 1.0f, 
+            .d = 0.0f, 
             .i_limit = 1.0f, 
             .out_limit = 10.0f, 
             .d_cutoff_freq = 0.0f, 
@@ -194,17 +185,8 @@ 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 = 0.35f, 
+            .p = 0.3f, 
             .i = 0.0f, 
             .d = 0.0f, 
             .i_limit = 1.0f, 
@@ -240,8 +222,8 @@ static const Config_Param_t config = {
               .basic.extra_deceleration_ratio = 1,
               .basic.ratio_multilevel[0] = 1.0f,
               .basic.num_trig_tooth = 8,
-              .basic.shot_freq = 5.0f,
+              .basic.shot_freq = 20.0f,
-              .basic.shot_burst_num = 1,
+              .basic.shot_burst_num = 5,
 
               .jamDetection.enable = true,
               .jamDetection.threshold = 120.0f,
@@ -271,8 +253,8 @@ static const Config_Param_t config = {
                 },
 
                 .trig_2006={
-                .k=0.7f,
+                .k=0.5f,
-                .p=0.7f,
+                .p=0.5f,
                 .i=0.5f,
                 .d=0.05f,
                 .i_limit=0.2f,

User/module/gimbal.c

@@ -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 = 0.2f;
+    output_yaw_4310.kd = 0.1f;
     // output_yaw_4310.kd=0.1f;
 
     MOTOR_MIT_Output_t output_pitch_4310 = {0};

User/task/Task8.c

@@ -6,9 +6,6 @@
 /* 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 */
 
@@ -17,57 +14,7 @@
 /* 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 --------------------------------------------------------- */
@@ -83,34 +30,13 @@ 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 */
   }

User/task/ai.c

@@ -49,9 +49,6 @@ 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 */
   }

User/task/init.c

@@ -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

User/task/shoot.c

@@ -4,12 +4,11 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "module/cmd.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "module/shoot.h"
 #include "module/config.h"
-#include "device/ai.h"
+
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -19,7 +18,6 @@
 /* USER STRUCT BEGIN */
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
-AI_cmd_t shoot_ai_cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -44,28 +42,8 @@ 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)
-{
-  shoot_cmd.mode = SHOOT_MODE_SINGLE;
-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);

User/task/user_task.h

@@ -91,7 +91,6 @@ 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;