123
This commit is contained in:
parent
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13
.vscode/settings.json
vendored
13
.vscode/settings.json
vendored
@ -14,5 +14,16 @@
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"starm-clangd",
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"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe",
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"--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe"
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]
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],
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"[c]": {
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"editor.tabSize": 2,
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"editor.insertSpaces": true,
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"editor.detectIndentation": false
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},
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"[cpp]": {
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"editor.tabSize": 2,
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"editor.insertSpaces": true,
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"editor.detectIndentation": false
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}
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}
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@ -80,7 +80,7 @@ void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out)
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((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_UP : AT9S_CMD_SW_ERR
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#define MAP_SWITCH_2(v) \
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#define MAP_SWITCH_RESERVE(v) \
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((v) > 300 && (v) < 500) ? AT9S_CMD_SW_UP : \
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((v) >= 500 && (v) < 1500) ? AT9S_CMD_SW_MID : \
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((v) >= 1500 && (v) < 1700) ? AT9S_CMD_SW_DOWN : AT9S_CMD_SW_ERR
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@ -104,13 +104,13 @@ void AT9S_ParseRaw(const uint8_t raw[AT9S_FRAME_LEN], AT9S_t *out)
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// out->data.ch_l_y = r.ch[2];
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// out->data.ch_l_x = r.ch[3];
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out->data.rc.key_A = MAP_SWITCH_2(r.sw[0]);
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out->data.rc.key_B = MAP_SWITCH_2(r.sw[1]);
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out->data.rc.key_C = MAP_SWITCH_2(r.sw[2]);
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out->data.rc.key_A = MAP_SWITCH_RESERVE(r.sw[0]);
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out->data.rc.key_B = MAP_SWITCH_RESERVE(r.sw[1]);
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out->data.rc.key_C = MAP_SWITCH_RESERVE(r.sw[2]);
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out->data.rc.key_D = MAP_SWITCH(r.sw[3]);
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out->data.rc.key_E = MAP_SWITCH(r.sw[4]);
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out->data.rc.key_F = MAP_SWITCH(r.sw[5]);
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out->data.rc.key_G = MAP_SWITCH_2(r.sw[6]);
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out->data.rc.key_G = MAP_SWITCH_RESERVE(r.sw[6]);
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out->data.rc.key_H = MAP_SWITCH(r.sw[7]);
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// out->knob_left = MAP_SWITCH(r.sw[6]);
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// out->knob_right = MAP_SWITCH(r.sw[7]);
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@ -6,42 +6,23 @@
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#include <stdint.h>
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#include <string.h>
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#include "bsp/time.h"
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#include "device/vt13.h"
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#include "module/shoot.h"
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#include "module/gimbal.h"
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/*************************************************************************************************************************************/
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/****************************************************************RC*******************************************************************/
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/*************************************************************************************************************************************/
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/* 扩展接口 */
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#if CMD_RCTypeTable_Index == 0
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#define CMD_RCType_TABLE(X) X(dr16, DR16)
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#elif CMD_RCTypeTable_Index == 1
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#define CMD_RCType_TABLE(X) X(at9s, AT9S)
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#elif CMD_RCTypeTable_Index == 2
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#define CMD_RCType_TABLE(X) X(vt13, VT13)
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#endif
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/* Includes ----------------------------------------------------------------- */
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#if CMD_RCTypeTable_Index == 0
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#include "device/dr16.h"
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#elif CMD_RCTypeTable_Index == 1
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#include "device/at9s_pro.h"
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#elif CMD_RCTypeTable_Index == 2
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#include "device/vt13.h"
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#endif
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/* Private macro ------------------------------------------------------------ */
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/* 声明外部rc数据变量 */
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#define CMDMACRO_EXTERNAL_RCDATA(name, NAME) extern NAME##_t name;
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#define CMDMACRO_NAME_EXPANSION_1(name, NAME) name
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/* 声明CMD结构体的RC数据变量 */
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#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name;
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/* 宏生成Cmd_RC_Get函数内容 */
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#define CMDMACRO_Cmd_RC_Get(name, NAME) \
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bool online= name.header.online; \
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rc_buffer.name= name.data.rc; \
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rc->online=online; \
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rc->type = CMD_RCTypeTable_Index;
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union CMD_RC_Data_t{
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CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA)
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};
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c->input.rc.name= name.data.rc; \
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c->input.rc.online=name.header.online; \
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c->input.rc.type=CMD_RCTypeTable_Index;
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CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA)
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/* Private typedef ---------------------------------------------------------- */
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@ -49,10 +30,13 @@ CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA)
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/* Private variables -------------------------------------------------------- */
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/*静态缓冲区*/
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CMD_RC_Data_t rc_buffer;
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/* Private function -------------------------------------------------------- */
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int8_t Cmd_RC_Get(CMD_Input_RC_t *rc){
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int8_t Cmd_RC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
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// bool online= dr16->header.online;
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// rc_buffer.dr16=dr16->data.rc;
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// c->input.rc.online=online;
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// c->input.rc.type=CMD_RCTypeTable_Index;
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CMD_RCType_TABLE(CMDMACRO_Cmd_RC_Get);
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return CMD_OK;
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}
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@ -62,7 +46,7 @@ int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) {
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return CMD_ERR_NULL; // 参数错误
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}
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#if CMD_RCTypeTable_Index == 0
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switch (c->input.rc.data->dr16.sw_l) {
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switch (c->input.rc.dr16.sw_l) {
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case DR16_SW_DOWN:
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c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
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break;
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@ -76,8 +60,8 @@ int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) {
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c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
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break;
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}
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c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.data->dr16.ch_r_x;
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c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.data->dr16.ch_r_y;
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c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.dr16.ch_r_x;
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c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.dr16.ch_r_y;
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#elif CMD_RCTypeTable_Index == 1
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switch (c->input.rc.data->at9s.key_E) {
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case AT9S_CMD_SW_DOWN:
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@ -104,21 +88,21 @@ int8_t Cmd_RC_BuildGimbalCommandFromInput(CMD_t *c) {
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return CMD_ERR_NULL; // 参数错误
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}
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#if CMD_RCTypeTable_Index == 0
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switch (c->input.rc.data->dr16.sw_l) {
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switch (c->input.rc.dr16.sw_l) {
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case DR16_SW_DOWN:
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c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
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c->output.gimbal.cmd.delta_yaw = 0.0f;
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c->output.gimbal.cmd.delta_pit = 0.0f;
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c->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
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c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
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c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
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break;
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case DR16_SW_MID:
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c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
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c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->dr16.ch_l_x * 2.0f;
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c->output.gimbal.cmd.delta_pit = -c->input.rc.data->dr16.ch_l_y * 1.5f;
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c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
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c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
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break;
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case DR16_SW_UP:
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c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
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c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->dr16.ch_l_x * 2.0f;
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c->output.gimbal.cmd.delta_pit = -c->input.rc.data->dr16.ch_l_y * 1.5f;
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c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
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c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f;
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c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f;
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break;
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default:
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c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
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@ -159,13 +143,12 @@ int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) {
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return CMD_ERR_NULL; // 参数错误
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}
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#if CMD_RCTypeTable_Index == 0
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c->output.shoot.cmd.online = c->input.rc.online;
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if (c->output.shoot.cmd.online) {
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if (c->input.rc.online) {
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c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE;
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} else {
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c->output.shoot.cmd.mode=SHOOT_MODE_SAFE;
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}
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switch (c->input.rc.data->dr16.sw_r) {
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switch (c->input.rc.dr16.sw_r) {
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case DR16_SW_DOWN:
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c->output.shoot.cmd.ready = true;
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c->output.shoot.cmd.firecmd = true;
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@ -239,7 +222,8 @@ int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) {
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X(OPENCOVER, CMD_MODULE_SHOOT) \
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X(ROTOR, CMD_MODULE_CHASSIS) \
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X(REVTRIG, CMD_MODULE_SHOOT) \
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X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS)
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X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS) \
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X(GIMBAL_MODE, CMD_MODULE_GIMBAL)
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/* 行为处理函数声明宏 */
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#define CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION(BEHAVIOR, MODULE_MASK) \
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@ -253,13 +237,37 @@ int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) {
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/* 行为处理函数声明 */
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CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION)
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#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name;
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/* 宏展开函数内容 */
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#define CMDMACRO_Cmd_PC_Get(name, NAME) \
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bool online= name.header.online; \
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pc_buffer.name= name.data.pc; \
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pc->online=online;
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c->input.pc.online=name.header.online;\
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c->input.pc.name= name.data.pc;
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#define CMDMACRO_PC_IsBehaviorTriggered(name, NAME) \
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CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior); \
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CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior); \
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bool now_key_pressed, last_key_pressed; \
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/* 按下按键为鼠标左、右键 */ \
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if (value == CMD_L_CLICK) { \
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now_key_pressed = c->input.pc.name.mouse.l_click; \
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last_key_pressed = c->input.pc.last##name.mouse.l_click; \
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} else if (value == CMD_R_CLICK) { \
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now_key_pressed = c->input.pc.name.mouse.r_click; \
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last_key_pressed = c->input.pc.last##name.mouse.r_click; \
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} else { \
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now_key_pressed = c->input.pc.name.keyboard.key[value]; \
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last_key_pressed = c->input.pc.last##name.keyboard.key[value]; \
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} \
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switch (active) { \
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case CMD_ACTIVE_RISING_EDGE: \
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return !now_key_pressed && last_key_pressed; \
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case CMD_ACTIVE_FALLING_EDGE: \
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return now_key_pressed && !last_key_pressed; \
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case CMD_ACTIVE_PRESSED: \
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return now_key_pressed; \
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} \
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return false;
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#define CMDMACRO_PC_BuildChassisCommandFromInput(name, NAME) \
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if (c->input.pc.online) {c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;} \
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else {c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;} \
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c->output.chassis.cmd.ctrl_vec.vx = 0.0f; \
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c->output.chassis.cmd.ctrl_vec.vy = 0.0f; \
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for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
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@ -269,11 +277,14 @@ CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION)
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behaviorHandlerFuncTable[i].func(c); \
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} \
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} \
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}
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}\
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return CMD_OK;
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#define CMDMACRO_PC_BuildGimbalCommandFromInput(name, NAME) \
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c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; \
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c->output.gimbal.cmd.delta_yaw = (float)c->input.pc.data->name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
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c->output.gimbal.cmd.delta_pit = (float)c->input.pc.data->name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
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static bool init = false; \
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if (!init) {c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;init=!init;}\
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if(!c->input.pc.online) {c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;} \
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c->output.gimbal.cmd.delta_yaw = (float)-c->input.pc.name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
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c->output.gimbal.cmd.delta_pit = (float)1.5f*c->input.pc.name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \
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for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
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CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \
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if (CMD_PC_IsMaskMatch(c, moduleMask)) { \
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@ -281,8 +292,11 @@ CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION)
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behaviorHandlerFuncTable[i].func(c); \
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} \
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} \
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}
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}\
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return CMD_OK;
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#define CMDMACRO_PC_BuildShootCommandFromInput(name, NAME) \
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if (!c->input.pc.online) {c->output.shoot.cmd.mode = SHOOT_MODE_SAFE;} \
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c->output.shoot.cmd.ready = true; \
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c->output.shoot.cmd.firecmd = false; \
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for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \
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CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \
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@ -292,9 +306,10 @@ CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION)
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} \
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} \
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} \
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memcpy(c->input.pc.lastData->name.keyboard.key, c->input.pc.data->name.keyboard.key, sizeof(c->input.pc.data->name.keyboard.key)); \
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c->input.pc.lastData->name.mouse.l_click = c->input.pc.data->name.mouse.l_click; \
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c->input.pc.lastData->name.mouse.r_click = c->input.pc.data->name.mouse.r_click;
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return CMD_OK;\
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memcpy(c->input.pc.last##name.keyboard.key, c->input.pc.name.keyboard.key, sizeof(c->input.pc.name.keyboard.key)); \
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c->input.pc.last##name.mouse.l_click = c->input.pc.name.mouse.l_click; \
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c->input.pc.last##name.mouse.r_click = c->input.pc.name.mouse.r_click;
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/* Private typedef ---------------------------------------------------------- */
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typedef int8_t (*CMD_BehaviorFunc)(CMD_t *c);
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typedef struct {
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@ -302,12 +317,6 @@ typedef struct {
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CMD_BehaviorFunc func;
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} CMD_BehaviorHandlerFunc_t;
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union CMD_PC_Data_t {
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CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA)
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};
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union CMD_PC_LastData_t {
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CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA)
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};
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/* Private variables -------------------------------------------------------- */
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/* 行为处理函数指针数组 */
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CMD_BehaviorHandlerFunc_t behaviorHandlerFuncTable[CMD_BEHAVIOR_NUM] = {
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@ -317,12 +326,8 @@ CMD_BehaviorHandlerFunc_t behaviorHandlerFuncTable[CMD_BEHAVIOR_NUM] = {
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static const CMD_ModuleMask_t behaviorModuleTable[CMD_BEHAVIOR_NUM] = {
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CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_MODULE_TABLE)
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};
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/* 静态缓冲区 */
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CMD_PC_Data_t pc_buffer;
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CMD_PC_LastData_t pc_lastdata_buffer;
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/* Private function -------------------------------------------------------- */
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int8_t Cmd_PC_Get(CMD_Input_PC_t *pc){
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int8_t Cmd_PC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
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CMD_RCType_TABLE(CMDMACRO_Cmd_PC_Get);
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return CMD_OK;
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}
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@ -405,6 +410,13 @@ static int8_t Cmd_PC_HandleBehaviorFOLLOWGIMBAL35(CMD_t *c){
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c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
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return CMD_OK;
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}
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static int8_t Cmd_PC_HandleBehaviorGIMBAL_MODE(CMD_t *c){
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c->output.gimbal.cmd.mode++;
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c->output.gimbal.cmd.mode %= GIMBAL_MODE_NUM;
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while (c->output.gimbal.cmd.mode<=0) {c->output.gimbal.cmd.mode++;}
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return CMD_OK;
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}
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static inline CMD_PCValue_t CMD_PC_BehaviorToValue(CMD_t *c,
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CMD_Behavior_t behavior) {
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@ -430,92 +442,31 @@ static inline bool CMD_PC_IsMaskMatch(CMD_t *c, CMD_ModuleMask_t module_mask) {
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}
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static inline bool CMD_PC_IsBehaviorTriggered(CMD_t *c, CMD_Behavior_t behavior) {
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CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior);
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CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior);
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bool now_key_pressed, last_key_pressed;
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/* 按下按键为鼠标左、右键 */
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if (value == CMD_L_CLICK) {
|
||||
now_key_pressed = c->input.pc.data->dr16.mouse.l_click;
|
||||
last_key_pressed = c->input.pc.lastData->dr16.mouse.l_click;
|
||||
} else if (value == CMD_R_CLICK) {
|
||||
now_key_pressed = c->input.pc.data->dr16.mouse.r_click;
|
||||
last_key_pressed = c->input.pc.lastData->dr16.mouse.r_click;
|
||||
} else {
|
||||
/* 直接用布尔值 */
|
||||
now_key_pressed = c->input.pc.data->dr16.keyboard.key[value];
|
||||
last_key_pressed = c->input.pc.lastData->dr16.keyboard.key[value];
|
||||
/* 或者用位掩码 */
|
||||
// now_key_pressed = c->input.pc.data.keyboard.bitmask & (1u << value);
|
||||
// last_key_pressed = c->input.pc.lastData.keyboard.bitmask & (1u << value);
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
switch (active) {
|
||||
case CMD_ACTIVE_RISING_EDGE:
|
||||
return !now_key_pressed && last_key_pressed;
|
||||
case CMD_ACTIVE_FALLING_EDGE:
|
||||
return now_key_pressed && !last_key_pressed;
|
||||
case CMD_ACTIVE_PRESSED:
|
||||
return now_key_pressed;
|
||||
}
|
||||
return false;
|
||||
CMD_RCType_TABLE(CMDMACRO_PC_IsBehaviorTriggered);
|
||||
}
|
||||
|
||||
static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
// c->output.chassis.cmd.ctrl_vec.vx = c->output.chassis.cmd.ctrl_vec.vy = 0.0f;
|
||||
// for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) {
|
||||
// CMD_ModuleMask_t moduleMask = behaviorModuleTable[i];
|
||||
// if (CMD_PC_IsMaskMatch(c, moduleMask)) {
|
||||
// if (CMD_PC_IsBehaviorTriggered(c, i)) {
|
||||
// behaviorHandlerFuncTable[i].func(c);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
CMD_RCType_TABLE(CMDMACRO_PC_BuildChassisCommandFromInput);
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
// c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
|
||||
// c->output.gimbal.cmd.delta_yaw = (float)c->input.pc.data->dr16.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse;
|
||||
// c->output.gimbal.cmd.delta_pit = (float)c->input.pc.data->dr16.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse;
|
||||
// for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) {
|
||||
// CMD_ModuleMask_t moduleMask = behaviorModuleTable[i];
|
||||
// if (CMD_PC_IsMaskMatch(c, moduleMask)) {
|
||||
// if (CMD_PC_IsBehaviorTriggered(c, i)) {
|
||||
// behaviorHandlerFuncTable[i].func(c);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
CMD_RCType_TABLE(CMDMACRO_PC_BuildGimbalCommandFromInput);
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
// c->output.shoot.cmd.firecmd = false;
|
||||
// for (size_t i = 0; i < CMD_RCType_TABLE(CMDMACRO_KEYNUM); i++) {
|
||||
// CMD_ModuleMask_t moduleMask = behaviorModuleTable[i];
|
||||
// if (CMD_PC_IsMaskMatch(c, moduleMask)) {
|
||||
// if (CMD_PC_IsBehaviorTriggered(c, i)) {
|
||||
// behaviorHandlerFuncTable[i].func(c);
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// memcpy(c->input.pc.lastData->dr16.keyboard.key, c->input.pc.data->dr16.keyboard.key, sizeof(c->input.pc.data->dr16.keyboard.key));
|
||||
// c->input.pc.lastData->dr16.mouse.l_click = c->input.pc.data->dr16.mouse.l_click;
|
||||
// c->input.pc.lastData->dr16.mouse.r_click = c->input.pc.data->dr16.mouse.r_click;
|
||||
CMD_RCType_TABLE(CMDMACRO_PC_BuildShootCommandFromInput);
|
||||
return CMD_OK;
|
||||
}
|
||||
#else
|
||||
static int8_t Cmd_PC_Get(CMD_Input_PC_t *pc) {
|
||||
@ -526,21 +477,18 @@ static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
#endif
|
||||
@ -565,7 +513,6 @@ int8_t Cmd_NUC_BuildChassisCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
@ -573,14 +520,12 @@ int8_t Cmd_NUC_BuildGimbalCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
int8_t Cmd_NUC_BuildShootCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
@ -604,7 +549,6 @@ int8_t Cmd_REF_BuildChassisCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
@ -612,14 +556,12 @@ int8_t Cmd_REF_BuildGimbalCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
int8_t Cmd_REF_BuildShootCommandFromInput(CMD_t *c) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
/*************************************************************************************************************************************/
|
||||
@ -638,7 +580,7 @@ static inline bool Cmd_isRCOnline(CMD_t *c){return c->input.rc.online;}
|
||||
static inline bool Cmd_isPCOnline(CMD_t *c){return c->input.pc.online;}
|
||||
CMD_InputSource_t Cmd_GetHighestPrioritySource(CMD_t *c) {
|
||||
for (int i = 0; i < CMD_SRC_NUM; i++) {
|
||||
CMD_InputSource_t source = c->params->sourcePriorityConfigs[i].source;
|
||||
CMD_InputSource_t source = c->params->sourcePriorityConfigs[i];
|
||||
switch (source) {
|
||||
case CMD_SRC_REF:
|
||||
if (Cmd_isREFOnline(c)) {
|
||||
@ -659,9 +601,12 @@ CMD_InputSource_t Cmd_GetHighestPrioritySource(CMD_t *c) {
|
||||
if (Cmd_isPCOnline(c)) {
|
||||
return CMD_SRC_PC;
|
||||
}
|
||||
break;
|
||||
case CMD_SRC_NUM:
|
||||
return CMD_ERR_SOURCE;
|
||||
}
|
||||
}
|
||||
return CMD_SRC_ERR;
|
||||
return CMD_ERR_SOURCE;
|
||||
}
|
||||
|
||||
int8_t Cmd_Arbiter(CMD_t *c) {
|
||||
@ -669,13 +614,9 @@ int8_t Cmd_Arbiter(CMD_t *c) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
CMD_InputSource_t source = Cmd_GetHighestPrioritySource(c);
|
||||
|
||||
c->output.chassis.source = source;
|
||||
c->output.gimbal.source = source;
|
||||
c->output.shoot.source = source;
|
||||
|
||||
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
@ -720,16 +661,25 @@ int8_t Cmd_OFFLINE(CMD_t *c) {
|
||||
}
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params) {
|
||||
|
||||
if (c == NULL || params == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
c->params = params;
|
||||
c->input.rc.data=&rc_buffer;
|
||||
#ifndef CMD_NOPC_FLAG
|
||||
c->input.pc.lastData=&pc_lastdata_buffer;
|
||||
c->input.pc.data=&pc_buffer;
|
||||
#endif
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
int8_t Cmd_Get(CMD_t *c,
|
||||
CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){
|
||||
// CMD_Input_NUC_t *nuc,
|
||||
// CMD_Input_REF_t *ref) {
|
||||
if (c == NULL) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
Cmd_RC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1));
|
||||
Cmd_PC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1));
|
||||
// Cmd_NUC_Get(&c->input.nuc);
|
||||
// Cmd_REF_Get(&c->input.ref);
|
||||
|
||||
return CMD_OK;
|
||||
}
|
||||
|
||||
@ -738,10 +688,7 @@ int8_t Cmd_GenerateCommand(CMD_t *c) {
|
||||
return CMD_ERR_NULL; // 参数错误
|
||||
}
|
||||
Cmd_Arbiter(c);
|
||||
Cmd_RC_Get(&c->input.rc);
|
||||
Cmd_PC_Get(&c->input.pc);
|
||||
Cmd_NUC_Get(&c->input.nuc);
|
||||
Cmd_REF_Get(&c->input.ref);
|
||||
|
||||
c->timer.now =BSP_TIME_Get_us() / 1000000.0f;
|
||||
c->timer.dt =(BSP_TIME_Get_us() - c->timer.last) / 1000000.0f;
|
||||
c->timer.last =BSP_TIME_Get_us();
|
||||
|
||||
@ -7,44 +7,60 @@
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "module/chassis.h"
|
||||
#include "module/gimbal.h"
|
||||
#include "module/shoot.h"
|
||||
|
||||
#if CMD_RCTypeTable_Index == 0
|
||||
#include "device/dr16.h"
|
||||
#elif CMD_RCTypeTable_Index == 1
|
||||
#include "device/at9s_pro.h"
|
||||
#elif CMD_RCTypeTable_Index == 2
|
||||
#include "device/vt13.h"
|
||||
#endif
|
||||
|
||||
/* Exported constants ------------------------------------------------------- */
|
||||
#define CMD_OK (0) /* 运行正常 */
|
||||
#define CMD_ERR_NULL (-1) /* 运行时发现NULL指针 */
|
||||
#define CMD_ERR_ERR (-2) /* 运行时发现了其他错误 */
|
||||
#define CMD_ERR_SOURCE (-3) /* 运行时配置了不存在的输入源 */
|
||||
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
#define CMD_RCTypeTable_Index 0 /* 0:DR16 1:AT9S 2:VT13 */
|
||||
|
||||
#if CMD_RCTypeTable_Index == 0
|
||||
#define CMD_RCType_TABLE(X) X(dr16, DR16)
|
||||
#elif CMD_RCTypeTable_Index == 1
|
||||
#define CMD_RCType_TABLE(X) X(at9s, AT9S)
|
||||
#elif CMD_RCTypeTable_Index == 2
|
||||
#define CMD_RCType_TABLE(X) X(vt13, VT13)
|
||||
#endif
|
||||
|
||||
#if CMD_RCTypeTable_Index == 1
|
||||
#define CMD_NOPC_FLAG
|
||||
#endif
|
||||
#define CMDMACRO_NAME_EXPANSION(name, NAME) NAME##_t name
|
||||
#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name;
|
||||
#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name;
|
||||
#define CMDMACRO_VAR_LASTPCDATA(name, NAME) NAME##_DataPC_t last##name;
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
|
||||
typedef union CMD_RC_Data_t CMD_RC_Data_t;
|
||||
|
||||
#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
|
||||
|
||||
/* 输入源枚举 */
|
||||
typedef enum {
|
||||
CMD_SRC_RC=0, /* 遥控器 */
|
||||
CMD_SRC_PC, /* 键盘鼠标 */
|
||||
CMD_SRC_NUC, /* 上位机 */
|
||||
CMD_SRC_REF, /* 裁判系统 */
|
||||
CMD_SRC_NUM,
|
||||
CMD_SRC_ERR
|
||||
CMD_SRC_NUM
|
||||
} CMD_InputSource_t;
|
||||
|
||||
/* RC part begin-------------------------------------- */
|
||||
|
||||
typedef struct {
|
||||
bool online;
|
||||
enum {DR16=0, AT9S} type;
|
||||
CMD_RC_Data_t *data;
|
||||
CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA)
|
||||
#undef CMDMACRO_VAR_RCDATA
|
||||
} CMD_Input_RC_t;//或者这里直接把CMD_Input_RC_t前向声明了，看哪个好看
|
||||
|
||||
/* RC part end---------------------------------------- */
|
||||
@ -77,6 +93,7 @@ typedef enum {
|
||||
CMD_KEY_B,
|
||||
CMD_L_CLICK,
|
||||
CMD_R_CLICK,
|
||||
CMD_M_CLICK,
|
||||
CMD_KEY_NUM,
|
||||
} CMD_PCValue_t;
|
||||
typedef enum {
|
||||
@ -101,6 +118,7 @@ typedef enum {
|
||||
CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */
|
||||
CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */
|
||||
CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
|
||||
CMD_BEHAVIOR_GIMBAL_MODE, /* 切换云台模式 */
|
||||
CMD_BEHAVIOR_NUM,
|
||||
} CMD_Behavior_t;
|
||||
typedef struct {
|
||||
@ -125,13 +143,12 @@ typedef struct {
|
||||
CMD_PC_Sensitivity_t sensitivity; /* PC灵敏度设置 */
|
||||
}CMD_PCParams_t;
|
||||
#ifndef CMD_NOPC_FLAG
|
||||
typedef union CMD_PC_Data_t CMD_PC_Data_t;
|
||||
typedef union CMD_PC_LastData_t CMD_PC_LastData_t;
|
||||
|
||||
typedef struct {
|
||||
bool online;
|
||||
CMD_PC_Data_t *data;
|
||||
CMD_PC_LastData_t *lastData;
|
||||
CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA)
|
||||
CMD_RCType_TABLE(CMDMACRO_VAR_LASTPCDATA)
|
||||
#undef CMDMACRO_VAR_PCDATA
|
||||
#undef CMDMACRO_VAR_LASTPCDATA
|
||||
}CMD_Input_PC_t;
|
||||
#else
|
||||
typedef struct {
|
||||
@ -143,6 +160,14 @@ typedef struct {
|
||||
/* NUC part begin------------------------------------- */
|
||||
typedef struct {
|
||||
bool online;
|
||||
struct {
|
||||
float delta_yaw;
|
||||
float delta_pit;
|
||||
}gimbal;
|
||||
struct {
|
||||
float expectedSpeed;
|
||||
bool fire;
|
||||
}shoot;
|
||||
}CMD_Input_NUC_t;
|
||||
|
||||
/* NUC part end--------------------------------------- */
|
||||
@ -183,13 +208,9 @@ typedef struct {
|
||||
CMD_Output_GIMBAL_t gimbal;
|
||||
CMD_Output_SHOOT_t shoot;
|
||||
} CMD_Output_t;
|
||||
typedef struct {
|
||||
CMD_InputSource_t source;
|
||||
uint8_t priority;
|
||||
} CMD_SourcePriorityConfig_t;
|
||||
|
||||
typedef struct {
|
||||
CMD_SourcePriorityConfig_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */
|
||||
CMD_InputSource_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */
|
||||
CMD_PCParams_t pc;
|
||||
} CMD_Params_t;
|
||||
|
||||
@ -208,6 +229,7 @@ typedef struct {
|
||||
|
||||
/* Exported functions prototypes -------------------------------------------- */
|
||||
int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params);
|
||||
int8_t Cmd_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION));
|
||||
int8_t Cmd_GenerateCommand(CMD_t *c);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@ -6,6 +6,7 @@
|
||||
#include "module/config.h"
|
||||
#include "bsp/can.h"
|
||||
#include "device/motor_dm.h"
|
||||
#include "module/cmd.h"
|
||||
#include <stdbool.h>
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
/* Private define ----------------------------------------------------------- */
|
||||
@ -176,7 +177,7 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
.jamDetection={
|
||||
.enable=true,
|
||||
.threshold=240.0f,
|
||||
.threshold=310.0f,
|
||||
.suspectedTime=0.5f,
|
||||
},
|
||||
.motor={
|
||||
@ -325,12 +326,12 @@ Config_RobotParam_t robot_config = {
|
||||
},
|
||||
.cmd_param={
|
||||
.sourcePriorityConfigs={
|
||||
{CMD_SRC_RC,1},
|
||||
{CMD_SRC_PC,2},
|
||||
{CMD_SRC_NUC,3},
|
||||
{CMD_SRC_REF,4}
|
||||
CMD_SRC_RC,
|
||||
CMD_SRC_PC,
|
||||
CMD_SRC_NUC,
|
||||
CMD_SRC_REF
|
||||
},
|
||||
.pc.map = {
|
||||
.pc.map = { /*1<<CMD_KEY_W记录一下不要忘了这个思路 */
|
||||
.key_map[CMD_BEHAVIOR_FORE] = {CMD_KEY_W, CMD_ACTIVE_PRESSED},
|
||||
.key_map[CMD_BEHAVIOR_BACK] = {CMD_KEY_S, CMD_ACTIVE_PRESSED},
|
||||
.key_map[CMD_BEHAVIOR_LEFT] = {CMD_KEY_A, CMD_ACTIVE_PRESSED},
|
||||
@ -342,12 +343,13 @@ Config_RobotParam_t robot_config = {
|
||||
.key_map[CMD_BEHAVIOR_FOLLOWGIMBAL35] = {CMD_KEY_E, CMD_ACTIVE_RISING_EDGE},
|
||||
.key_map[CMD_BEHAVIOR_OPENCOVER] = {CMD_KEY_F, CMD_ACTIVE_RISING_EDGE},
|
||||
.key_map[CMD_BEHAVIOR_REVTRIG] = {CMD_KEY_R, CMD_ACTIVE_RISING_EDGE},
|
||||
.key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_RISING_EDGE},
|
||||
.key_map[CMD_BEHAVIOR_ROTOR] = {CMD_KEY_G, CMD_ACTIVE_PRESSED},
|
||||
.key_map[CMD_BEHAVIOR_GIMBAL_MODE] = {CMD_KEY_V, CMD_ACTIVE_RISING_EDGE},
|
||||
},
|
||||
.pc.sensitivity={
|
||||
|
||||
.move_sense=1.6f,
|
||||
.sens_mouse=0.06f,
|
||||
.move_sense=0.1f,
|
||||
.sens_mouse=3.0f,
|
||||
.move_fast_sense=2.4f,
|
||||
.move_slow_sense=0.8f
|
||||
},
|
||||
|
||||
@ -42,15 +42,16 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
|
||||
MOTOR_DM_Enable(&(g->param->pit_motor));
|
||||
|
||||
AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
|
||||
// if (g->mode == GIMBAL_MODE_RELAX) {
|
||||
// if (mode == GIMBAL_MODE_ABSOLUTE) {
|
||||
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
|
||||
// } else if (mode == GIMBAL_MODE_RELATIVE) {
|
||||
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
|
||||
// }
|
||||
// }
|
||||
|
||||
g->setpoint.eulr.pit = g->feedback.motor.pit.rotor_abs_angle;
|
||||
|
||||
// g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
|
||||
// g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle;
|
||||
if (mode == GIMBAL_MODE_ABSOLUTE) {
|
||||
g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle;
|
||||
} else if (mode == GIMBAL_MODE_RELATIVE) {
|
||||
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
|
||||
}
|
||||
|
||||
g->mode = mode;
|
||||
return 0;
|
||||
@ -165,7 +166,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
|
||||
float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
|
||||
if (g->param->travel.yaw > 0) {
|
||||
/* 计算当前电机角度与IMU角度的偏差 */
|
||||
float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.motor.yaw.rotor_abs_angle;
|
||||
float motor_imu_offset;
|
||||
switch (g->mode) {
|
||||
case GIMBAL_MODE_ABSOLUTE:
|
||||
motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.motor.yaw.rotor_abs_angle;
|
||||
break;
|
||||
case GIMBAL_MODE_RELATIVE:
|
||||
motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
|
||||
break;
|
||||
}
|
||||
/* 处理跨越±π的情况 */
|
||||
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
|
||||
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
|
||||
@ -186,7 +195,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
|
||||
float delta_pit = g_cmd->delta_pit * g->dt;
|
||||
if (g->param->travel.pit > 0) {
|
||||
/* 计算当前电机角度与IMU角度的偏差 */
|
||||
float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.motor.pit.rotor_abs_angle;
|
||||
float motor_imu_offset;
|
||||
switch (g->mode) {
|
||||
case GIMBAL_MODE_ABSOLUTE:
|
||||
motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.motor.pit.rotor_abs_angle;
|
||||
break;
|
||||
case GIMBAL_MODE_RELATIVE:
|
||||
motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.pit;
|
||||
break;
|
||||
}
|
||||
/* 处理跨越±π的情况 */
|
||||
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
|
||||
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
|
||||
@ -202,7 +219,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
|
||||
if (delta_pit < delta_min) delta_pit = delta_min;
|
||||
}
|
||||
CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
|
||||
g->setpoint.eulr.pit = (g_cmd->delta_pit)/3.0f + 2.98f + 1/3.0f; //2.98f为机械零点位置
|
||||
// g->setpoint.eulr.pit = (g_cmd->delta_pit)/3.0f + 2.98f + 1/3.0f; //2.98f为机械零点位置
|
||||
|
||||
/* 控制相关逻辑 */
|
||||
float yaw_omega_set_point, pit_omega_set_point;
|
||||
@ -229,9 +246,19 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
|
||||
break;
|
||||
|
||||
case GIMBAL_MODE_RELATIVE:
|
||||
/* 相对模式暂未实现 */
|
||||
g->out.yaw = 0.0f;
|
||||
g->out.pit = 0.0f;
|
||||
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
|
||||
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
|
||||
g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
|
||||
g->feedback.imu.gyro.z, 0.f, g->dt);
|
||||
|
||||
pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
|
||||
g->feedback.imu.eulr.pit, 0.0f, g->dt);
|
||||
g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
|
||||
g->feedback.imu.gyro.x, 0.f, g->dt);
|
||||
|
||||
/* 输出滤波 */
|
||||
g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
|
||||
g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
@ -29,6 +29,7 @@ typedef enum {
|
||||
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 */
|
||||
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
|
||||
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
|
||||
GIMBAL_MODE_NUM
|
||||
} Gimbal_Mode_t;
|
||||
|
||||
typedef struct {
|
||||
|
||||
@ -40,9 +40,13 @@ void Task(void *argument) {
|
||||
#include "component/user_math.h"
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
/* Private define ----------------------------------------------------------- */
|
||||
#define MAX_FRIC_RPM 7000.0f
|
||||
#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
static bool last_firecmd;
|
||||
|
||||
float maxTrigrpm=1500.0f;
|
||||
/* Private function -------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
@ -281,7 +285,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
|
||||
s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
|
||||
}
|
||||
s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
|
||||
s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
|
||||
s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm;
|
||||
if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
|
||||
if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;
|
||||
|
||||
@ -303,15 +307,16 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
return SHOOT_ERR_NULL; // 参数错误
|
||||
}
|
||||
uint8_t fric_num = s->param->basic.fric_num;
|
||||
if(!s->online || s->mode==SHOOT_MODE_SAFE){
|
||||
static float pos;
|
||||
if(s->mode==SHOOT_MODE_SAFE){
|
||||
for(int i=0;i<fric_num;i++)
|
||||
{
|
||||
MOTOR_RM_Relax(&s->param->motor.fric[i].param);
|
||||
}
|
||||
MOTOR_RM_Relax(&s->param->motor.trig);
|
||||
MOTOR_RM_Relax(&s->param->motor.trig);\
|
||||
pos=s->target_variable.trig_angle=s->var_trig.trig_agl;
|
||||
}
|
||||
else{
|
||||
static float pos;
|
||||
switch(s->running_state)
|
||||
{
|
||||
case SHOOT_STATE_IDLE:/*熄火等待*/
|
||||
@ -637,7 +642,6 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
|
||||
s->timer.now = BSP_TIME_Get_us() / 1000000.0f;
|
||||
s->timer.dt = (BSP_TIME_Get_us() - s->timer.lask_wakeup) / 1000000.0f;
|
||||
s->timer.lask_wakeup = BSP_TIME_Get_us();
|
||||
s->online = cmd->online;
|
||||
Shoot_CaluTargetRPM(s,233);
|
||||
|
||||
Shoot_JamDetectionFSM(s, cmd);
|
||||
|
||||
@ -13,18 +13,15 @@ extern "C" {
|
||||
#include "component/pid.h"
|
||||
#include "device/motor_rm.h"
|
||||
/* Exported constants ------------------------------------------------------- */
|
||||
#define MAX_FRIC_NUM 6
|
||||
#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
|
||||
|
||||
#define SHOOT_OK (0) /* 运行正常 */
|
||||
#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */
|
||||
#define SHOOT_ERR_ERR (-2) /* 运行时发现了其他错误 */
|
||||
#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的Mode */
|
||||
#define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */
|
||||
#define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */
|
||||
|
||||
#define MAX_FRIC_RPM 7000.0f
|
||||
#define MAX_TRIG_RPM 2000.0f//这里可能也会影响最高发射频率，待测试
|
||||
|
||||
#define MAX_FRIC_NUM 6
|
||||
#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
typedef enum {
|
||||
@ -69,9 +66,7 @@ typedef struct{
|
||||
float normalized_fil_avgrpm[MAX_NUM_MULTILEVEL]; /* 归一化摩擦轮平均转速 */
|
||||
float coupled_control_weights; /* 耦合控制权重 */
|
||||
}Shoot_VARSForFricCtrl_t;
|
||||
// float fil_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮原始转速 */
|
||||
// float normalized_fil_rpm[MAX_FRIC_NUM]; /* 归一化且滤波后的摩擦轮转速 */
|
||||
// float normalized_fil_avgrpm; /* 归一化摩擦轮平均转速 */
|
||||
|
||||
typedef struct{
|
||||
float time_lastShoot;/* 上次射击时间 */
|
||||
uint16_t num_toShoot;/* 剩余待发射弹数 */
|
||||
@ -99,7 +94,6 @@ typedef struct {
|
||||
}Shoot_Output_t;
|
||||
|
||||
typedef struct {
|
||||
bool online; /* 在线标志 */
|
||||
Shoot_Mode_t mode;/* 射击模式 */
|
||||
bool ready; /* 准备射击 */
|
||||
bool firecmd; /* 射击 */
|
||||
@ -155,7 +149,6 @@ typedef struct {
|
||||
* 包含了初始化参数，中间变量，输出变量
|
||||
*/
|
||||
typedef struct {
|
||||
bool online; /*在线检测*/
|
||||
Shoot_Timer_t timer; /* 计时器 */
|
||||
Shoot_Params_t *param; /* 发射参数 */
|
||||
/* 模块通用 */
|
||||
|
||||
@ -21,6 +21,11 @@
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
/* USER STRUCT BEGIN */
|
||||
#if CMD_RCTypeTable_Index == 0
|
||||
DR16_t cmd_dr16;
|
||||
#elif CMD_RCTypeTable_Index == 1
|
||||
AT9S_t cmd_at9s;
|
||||
#endif
|
||||
Shoot_CMD_t cmd_for_shoot;
|
||||
Chassis_CMD_t cmd_for_chassis;
|
||||
Gimbal_CMD_t cmd_for_gimbal;
|
||||
@ -47,6 +52,12 @@ void Task_cmd(void *argument) {
|
||||
while (1) {
|
||||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||||
/* USER CODE BEGIN */
|
||||
#if CMD_RCTypeTable_Index == 0
|
||||
osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
|
||||
#elif CMD_RCTypeTable_Index == 1
|
||||
osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
|
||||
#endif
|
||||
Cmd_Get(&cmd,cmd_dr16);
|
||||
Cmd_GenerateCommand(&cmd);
|
||||
cmd_for_shoot=cmd.output.shoot.cmd;
|
||||
cmd_for_chassis=cmd.output.chassis.cmd;
|
||||
|
||||
@ -46,8 +46,11 @@ void Task_Init(void *argument) {
|
||||
// 创建消息队列
|
||||
/* USER MESSAGE BEGIN */
|
||||
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
|
||||
#if CMD_RCTypeTable_Index == 0
|
||||
task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
|
||||
#elif CMD_RCTypeTable_Index == 1
|
||||
task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL);
|
||||
task_runtime.msgq.cmd.pc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
|
||||
#endif
|
||||
task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL);
|
||||
task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(Chassis_CMD_t), NULL);
|
||||
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
|
||||
|
||||
@ -3,8 +3,8 @@
|
||||
|
||||
*/
|
||||
|
||||
#define AT9S
|
||||
// #define DR16
|
||||
// #define AT9S
|
||||
#define DR16
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "task/user_task.h"
|
||||
/* USER INCLUDE BEGIN */
|
||||
@ -70,6 +70,7 @@ void Task_rc(void *argument) {
|
||||
} else {
|
||||
DR16_Offline(&dr16);
|
||||
}
|
||||
osMessageQueueReset(task_runtime.msgq.cmd.rc);
|
||||
osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);
|
||||
#endif
|
||||
/* USER CODE END */
|
||||
|
||||
@ -18,7 +18,7 @@ extern "C" {
|
||||
#define BLINK_FREQ (100.0)
|
||||
#define CTRL_CHASSIS_FREQ (500.0)
|
||||
#define CTRL_GIMBAL_FREQ (500.0)
|
||||
#define CTRL_SHOOT_FREQ (500.0)
|
||||
#define CTRL_SHOOT_FREQ (1000.0)
|
||||
#define CMD_FREQ (500.0)
|
||||
|
||||
/* 任务初始化延时ms */
|
||||
|
||||
@ -1,29 +1,34 @@
|
||||
|
||||
|
||||
|
||||
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c:364:7, State=BP_STATE_DISABLED
|
||||
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f, Show=0
|
||||
GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b, Show=0
|
||||
GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#769dda, Show=0
|
||||
GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#b14f0d, Show=0
|
||||
GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e, Show=0
|
||||
GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05, Show=0
|
||||
GraphedExpression="((((shoot).feedback).trig).feedback).rotor_speed", Color=#7fd3b7
|
||||
GraphedExpression="((((shoot).feedback).trig).feedback).rotor_abs_angle", Color=#50328f
|
||||
Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c:367:7, State=BP_STATE_DISABLED
|
||||
GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#e56a6f
|
||||
GraphedExpression="(((shoot).feedback).fric[1]).rotor_speed", Color=#35792b
|
||||
GraphedExpression="(((shoot).feedback).fric[2]).rotor_speed", Color=#769dda
|
||||
GraphedExpression="(((shoot).feedback).fric[3]).rotor_speed", Color=#b14f0d
|
||||
GraphedExpression="(((shoot).feedback).fric[4]).rotor_speed", Color=#b3c38e
|
||||
GraphedExpression="(((shoot).feedback).fric[5]).rotor_speed", Color=#ab7b05
|
||||
GraphedExpression="(shoot).errtosee", Color=#7fd3b7, Show=0
|
||||
OpenDocument="memcpy.c", FilePath="/build/gnu-tools-for-stm32_13.3.rel1.20250523-0900/src/newlib/newlib/libc/string/memcpy.c", Line=0
|
||||
OpenDocument="can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.c", Line=69
|
||||
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
|
||||
OpenDocument="device.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/device.h", Line=5
|
||||
OpenDocument="cmd.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.h", Line=60
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=416
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=0
|
||||
OpenDocument="pid.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/component/pid.h", Line=53
|
||||
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32f407xx.s", Line=48
|
||||
OpenDocument="motor_dm.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/motor_dm.h", Line=45
|
||||
OpenDocument="can.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/can.h", Line=0
|
||||
OpenDocument="shoot.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.h", Line=78
|
||||
OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=14
|
||||
OpenDocument="ctrl_gimbal.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ctrl_gimbal.c", Line=11
|
||||
OpenDocument="main.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/main.c", Line=60
|
||||
OpenDocument="rc.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/rc.c", Line=0
|
||||
OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
|
||||
OpenDocument="shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/shoot.c", Line=346
|
||||
OpenDocument="config.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.c", Line=0
|
||||
OpenDocument="config.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/config.h", Line=0
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/cmd.c", Line=22
|
||||
OpenDocument="cmd.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/cmd.c", Line=80
|
||||
OpenDocument="chassis.h", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.h", Line=133
|
||||
OpenDocument="stm32f4xx_hal_dma.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c", Line=710
|
||||
OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=1994
|
||||
OpenDocument="stm32f4xx_hal_msp.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_hal_msp.c", Line=28
|
||||
OpenDocument="usart.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/usart.c", Line=179
|
||||
@ -33,25 +38,25 @@ OpenDocument="ctrl_shoot.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/ct
|
||||
OpenDocument="user_task.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/user_task.c", Line=0
|
||||
OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/stm32f4xx_it.c", Line=83
|
||||
OpenToolbar="Debug", Floating=0, x=0, y=0
|
||||
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
|
||||
OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=2, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
|
||||
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=397, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=403, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=1, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=587, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=1972, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;165", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1059;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1074;0"
|
||||
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=587, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 2", DockArea=RIGHT, x=0, y=1, w=726, h=521, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Data Sampling", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
|
||||
OpenWindow="Timeline", DockArea=BOTTOM, x=0, y=0, w=2268, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="500 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="34;98", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1266;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="1282;0"
|
||||
OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=291, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
OpenWindow="Watched Data 2", DockArea=RIGHT, x=0, y=1, w=726, h=515, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
|
||||
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
|
||||
TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[100;100;100;426]
|
||||
TableHeader="Watched Data 2", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[170;352;100;104]
|
||||
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
|
||||
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[120;144;462]
|
||||
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
|
||||
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
|
||||
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
|
||||
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1014]
|
||||
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" (((shoot).feedback).fric[1]).rotor_speed";" (((shoot).feedback).fric[3]).rotor_speed";" (((shoot).feedback).fric[2]).rotor_speed";" (((shoot).feedback).fric[4]).rotor_speed";" (((shoot).feedback).fric[5]).rotor_speed";" ((((shoot).feedback).trig).feedback).rotor_speed";" ((((shoot).feedback).trig).feedback).rotor_abs_angle"], ColWidths=[100;100;100;100;100;100;100;100;100;100]
|
||||
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;134;104;114;114;110;126;126]
|
||||
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (((shoot).feedback).fric[0]).rotor_speed";" (((shoot).feedback).fric[1]).rotor_speed";" (((shoot).feedback).fric[2]).rotor_speed";" (((shoot).feedback).fric[3]).rotor_speed";" (((shoot).feedback).fric[4]).rotor_speed";" (((shoot).feedback).fric[5]).rotor_speed";" (shoot).errtosee"], ColWidths=[100;100;100;100;100;100;100;100;100]
|
||||
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;124;110;126;126]
|
||||
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;366]
|
||||
WatchedExpression="0x20008DD8", Window=Watched Data 1
|
||||
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
|
||||
@ -65,3 +70,9 @@ WatchedExpression="chassis_cmd", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="gimbal_cmd", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="at9s_out", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="cmd_dr16", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="rc_buffer", RefreshRate=5, Window=Watched Data 1
|
||||
WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 2
|
||||
WatchedExpression="cmd_dr16", Window=Watched Data 2
|
||||
WatchedExpression="dr16", RefreshRate=5, Window=Watched Data 2
|
||||
WatchedExpression="gimbal", RefreshRate=5, Window=Watched Data 2
|
||||
Loading…
Reference in New Issue
Block a user