xm/shoot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
67d9a10647
shoot2/User/module/shoot_control.c

365 lines
14 KiB
C
Raw Blame History

#include "shoot_control.h"
#include <string.h>
#include "can.h"
#include "component/filter.h"
#include "component/user_math.h"
#include <math.h>
#include "bsp/time.h"
static bool last_firecmd;
static inline void ScaleSumTo1(float *a, float *b) {
float sum = *a + *b;
if (sum > 1.0f) {
float scale = 1.0f / sum;
*a *= scale;
*b *= scale;
}
}
int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode)
{
if (s == NULL) {
return -1; // 参数错误
}
s->mode=mode;
return 0;
}
int8_t Shoot_ResetIntegral(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_ResetIntegral(&s->pid.fric_follow[i]);
PID_ResetIntegral(&s->pid.fric_err[i]);
}
PID_ResetIntegral(&s->pid.trig);
PID_ResetIntegral(&s->pid.trig_omg);
return 0;
}
int8_t Shoot_ResetCalu(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_Reset(&s->pid.fric_follow[i]);
PID_Reset(&s->pid.fric_err[i]);
LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
}
PID_Reset(&s->pid.trig);
PID_Reset(&s->pid.trig_omg);
LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
return 0;
}
int8_t Shoot_ResetOutput(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
s->output.out_follow[i]=0.0f;
s->output.out_err[i]=0.0f;
s->output.out_fric[i]=0.0f;
s->output.lpfout_fric[i]=0.0f;
}
s->output.outagl_trig=0.0f;
s->output.outomg_trig=0.0f;
s->output.outlpf_trig=0.0f;
return 0;
}
int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
{
if (s == NULL) {
return -1; // 参数错误
}
s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
return 0;
}
/**
* \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
*
* \param s 包含发射数据的结构体
* \param num 需要发射的弹丸数量
*/
int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || s->anglecalu.num_to_shoot == 0) {
return -1;
}
if(s->now - s->anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
{
s->anglecalu.time_last_shoot=s->now;
s->target_variable.target_angle += s->param->trig_step_angle;
if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
s->anglecalu.num_to_shoot--;
}
return 0;
}
int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
{
if (s == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
}
s->param=param;
BSP_CAN_Init();
for(int i=0;i<SHOOT_FRIC_NUM;i++){
MOTOR_RM_Register(&param->fric_motor_param[i]);
PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
}
MOTOR_RM_Register(&param->trig_motor_param);
PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
PID_Init(&s->pid.trig_omg, KPID_MODE_CALC_D, target_freq,&param->trig_omg);
LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
memset(&s->anglecalu,0,sizeof(s->anglecalu));
memset(&s->output,0,sizeof(s->output));
return 0;
}
int8_t Chassis_UpdateFeedback(Shoot_t *s)
{
if (s == NULL) {
return -1; // 参数错误
}
float rpm_sum=0.0f;
for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
/* 更新摩擦电机反馈 */
MOTOR_RM_Update(&s->param->fric_motor_param[i]);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
if(motor_fed!=NULL)
{
s->feedback.fric[i]=motor_fed->motor.feedback;
}
/* 滤波反馈rpm */
s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
/* 归一化rpm */
s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
/* 计算平均rpm */
rpm_sum+=s->feedback.fric_rpm[i];
}
s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
/* 更新拨弹电机反馈 */
MOTOR_RM_Update(&s->param->trig_motor_param);
MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
if(motor_fed!=NULL)
{
s->feedback.trig=motor_fed->feedback;
}
/* 将多圈角度归化到单圈 (-M_PI, M_PI) */
s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
if (s->feedback.trig_angle_cicle > M_PI) {
s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
}else if (s->feedback.trig_angle_cicle < -M_PI) {
s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
}
s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f; //如果单环效果好就删
if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
return 0;
}
int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
return -1; // 参数错误
}
if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
}
MOTOR_RM_Relax(&s->param->trig_motor_param);
}
else{
static float pos;
switch(s->running_state)
{
case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
PID_ResetIntegral(&s->pid.fric_follow[i]);
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_fric[i]=s->output.out_follow[i];
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
if(cmd->ready)
{
Shoot_ResetCalu(s);
Shoot_ResetIntegral(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_READY;
}
break;
case SHOOT_STATE_READY:/*准备射击*/
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{ /* 计算跟随输出、计算修正输出 */
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
/* 按比例缩放并加和输出 */
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
/* 滤波 */
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
/* 输出 */
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
/* 拨弹电机输出 */
s->output.outagl_trig =PID_Calc(&s->pid.trig,pos,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
/* 检查状态机 */
if(!cmd->ready)
{
Shoot_ResetCalu(s);
Shoot_ResetOutput(s);
s->running_state=SHOOT_STATE_IDLE;
}
else if(last_firecmd==false&&cmd->firecmd==true)
{
s->running_state=SHOOT_STATE_FIRE;
s->anglecalu.num_to_shoot+=s->param->shot_burst_num;
}
break;
case SHOOT_STATE_FIRE:
Shoot_CaluTargetAngle(s, cmd);
for(int i=0;i<SHOOT_FRIC_NUM;i++)
{
s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
}
s->output.outagl_trig =PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
s->output.outomg_trig =PID_Calc(&s->pid.trig_omg,s->output.outagl_trig,s->feedback.trig_rpm,0,s->dt);
s->output.outlpf_trig =LowPassFilter2p_Apply(&s->filter.trig.out, s->output.outomg_trig);
MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.outlpf_trig);
if(!cmd->firecmd)
{
s->running_state=SHOOT_STATE_READY;
pos=s->feedback.trig_angle_cicle;
}
break;
default:
s->running_state=SHOOT_STATE_IDLE;
break;
}
}
MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
MOTOR_RM_Ctrl(&s->param->fric_motor_param[4]);
last_firecmd = cmd->firecmd;
return 0;
}
int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL) {
return -1; // 参数错误
}
switch (s->jamdetection.jamfsm_state) {
case SHOOT_JAMFSM_STATE_NORMAL:
if (s->feedback.trig.torque_current/1000.0f > s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
s->jamdetection.jam_last_time = s->now; // 记录怀疑开始时间
}
Shoot_RunningFSM(s, cmd); // 正常运行状态下继续执行射击状态机
break;
case SHOOT_JAMFSM_STATE_SUSPECTED:
if (s->feedback.trig.torque_current/1000.0f < s->param->jam_threshold) {
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
} else {
if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
s->jamdetection.jam_detected =true;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
break;
}
}
Shoot_RunningFSM(s, cmd);
break;
case SHOOT_JAMFSM_STATE_CONFIRMED:
// 进入处理状态，修改拨弹盘目标角度
s->target_variable.target_angle = s->feedback.trig_angle_cicle-0.5f*s->param->trig_step_angle;
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
s->jamdetection.jam_last_time = s->now; // 记录处理开始时间
case SHOOT_JAMFSM_STATE_DEAL:
Shoot_RunningFSM(s, cmd);
if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->output.outlpf_trig < 0.1f) { /* 给予0.3秒响应时间并检测输出，认为堵塞已解除 */
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
}
break;
default:
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
}
return 0;
}
int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
{
if (s == NULL || cmd == NULL) {
return -1; // 参数错误
}
s->now = BSP_TIME_Get_us() / 1000000.0f;
s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
s->lask_wakeup = BSP_TIME_Get_us();
s->online = cmd->online;//改成检测电机是否在线
//电机在线检测函数
Shoot_JamDetectionFSM(s, cmd);
return 0;
}
Reference in New Issue View Git Blame Copy Permalink