119 lines
3.2 KiB
C
119 lines
3.2 KiB
C
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/*
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该文件cmd用于对各种命令的中转处理，以防止在remote遥控器任务中过于冗杂堆叠
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*/
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#ifndef __CMD_H
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#define __CMD_H
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#include "bsp/struct_typedef.h"
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#include "device/device.h"
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/* 遥控器类型 */
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// 遥控器状态
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typedef enum
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{
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RC_DR16,
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RC_LD,
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RC_ET16s,
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Control_loss
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} rc_type_t;
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/* 拨杆位置 */
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typedef enum
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{
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CMD_SW_ERR = 0,
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CMD_SW_UP = 1,
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CMD_SW_MID = 3,
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CMD_SW_DOWN = 2,
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} CMD_SwitchPos_t;
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// 遥控器数据
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typedef struct
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{
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rc_type_t rc_type;
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struct
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{
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
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CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
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} __attribute__((packed)) DJ;
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struct
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{
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float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
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float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
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float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
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float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
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CMD_SwitchPos_t key_A;
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CMD_SwitchPos_t key_B;
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CMD_SwitchPos_t key_C;
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CMD_SwitchPos_t key_D;
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CMD_SwitchPos_t key_E;
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CMD_SwitchPos_t key_F;
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CMD_SwitchPos_t key_G;
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CMD_SwitchPos_t key_H;
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int16_t knob_left; // 左旋钮
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int16_t knob_right; // 右旋钮
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} __attribute__((packed)) LD;
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} __attribute__((packed)) CMD_RC_t;
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/*底盘模式*/
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typedef enum
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{
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STOP, // 底盘平行
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RC, // 遥控模式
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CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
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CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
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CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
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CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
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} Chassis_mode_t;
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typedef struct
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{
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int cmd_power_on_safe; // 上电安全标志
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Chassis_mode_t mode;
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// 遥控器输出值
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fp32 Vx;
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fp32 Vy;
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fp32 Vw;
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fp32 throttle;
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fp32 x_l;
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fp32 y_l;
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} Chassis_CMD_t;
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/* 云台模式 */
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typedef enum
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{
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GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
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GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
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GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
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} Gimbal_Mode_t;
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typedef struct {
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Gimbal_Mode_t mode;
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float delta_yaw_4310;
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float delta_pitch_4310;
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float delta_yaw_6020;
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} Gimbal_CMD_t;
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void CMD_Init(Chassis_CMD_t *cmd, Gimbal_CMD_t *g_cmd);
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void CMD_ParseRc(Chassis_CMD_t *cmd, CMD_RC_t *rc, Gimbal_CMD_t *g_cmd);
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static void CMD_remote(const CMD_RC_t *rc, Chassis_CMD_t *cmd, Gimbal_CMD_t *g_cmd);
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int8_t CMD_CtrlSet(Chassis_CMD_t *cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd);
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static void CMD_RcLostLogic(Chassis_CMD_t *cmd,Gimbal_CMD_t *g_cmd);
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#endif |