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+ + + + 0 + 1707 + 1067 + + + + + + 1 + 0 + + 100 + 0 + + ..\SAS_Code\naive_chassis_task.c + 0 + 236 + 237 + 1 + + 0 + + + + + diff --git a/InfantryTest/MDK-ARM/standard_robot.uvoptx b/InfantryTest/MDK-ARM/standard_robot.uvoptx index 3ade1c63f521193ecf41bc5eab9fd532e088aad6..555acad7ac1cff39b714f66ceb981479a623aa38 100644 --- a/InfantryTest/MDK-ARM/standard_robot.uvoptx +++ b/InfantryTest/MDK-ARM/standard_robot.uvoptx @@ -196,7 +196,7 @@ Application/User - 1 + 0 0 0 0 diff --git a/InfantryTest/MDK-ARM/standard_robot.uvprojx b/InfantryTest/MDK-ARM/standard_robot.uvprojx index b075847043439c77b7ce7a306b037d7afb3ef85d..cd23d913a5630121da4353cc5a3defa8c4d2f18a 100644 --- a/InfantryTest/MDK-ARM/standard_robot.uvprojx +++ b/InfantryTest/MDK-ARM/standard_robot.uvprojx @@ -15,8 +15,8 @@ STM32F407IGHx STMicroelectronics - Keil.STM32F4xx_DFP.2.15.0 - http://www.keil.com/pack/ + Keil.STM32F4xx_DFP.2.12.0 + http://www.keil.com/pack IRAM(0x20000000-0x2001FFFF) IRAM2(0x10000000-0x1000FFFF) 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a/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ctlreq.crf and b/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ctlreq.crf differ diff --git a/InfantryTest/MDK-ARM/standard_tpye_c/usbd_desc.crf b/InfantryTest/MDK-ARM/standard_tpye_c/usbd_desc.crf index 8e06bfe534c63fdbecb7dc9614b2a8d62da41dd4..f6b8506a741b4a2fb91568126a7a5a4e9243f627 100644 Binary files a/InfantryTest/MDK-ARM/standard_tpye_c/usbd_desc.crf and b/InfantryTest/MDK-ARM/standard_tpye_c/usbd_desc.crf differ diff --git a/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ioreq.crf b/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ioreq.crf index 039ae7cdb0c47537f79a487a7784a7461c459ea7..409ec425a3befe95e7f08cd4bdfb3c12bbe43bde 100644 Binary files a/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ioreq.crf and b/InfantryTest/MDK-ARM/standard_tpye_c/usbd_ioreq.crf differ diff --git a/InfantryTest/MDK-ARM/standard_tpye_c/user_lib.crf b/InfantryTest/MDK-ARM/standard_tpye_c/user_lib.crf index 62f6721db0913aad3957f1b5b37b338d7e650818..12aa67297f696f5ceb3da3589284ddaa58be48a1 100644 Binary files a/InfantryTest/MDK-ARM/standard_tpye_c/user_lib.crf and b/InfantryTest/MDK-ARM/standard_tpye_c/user_lib.crf differ diff --git a/InfantryTest/MDK-ARM/standard_tpye_c/voltage_task.crf b/InfantryTest/MDK-ARM/standard_tpye_c/voltage_task.crf index f21f62f20a43e9da70e8a308e73dc7249ae1662b..1fdffff8d5138654a9564a26996ff144c3f32716 100644 Binary files a/InfantryTest/MDK-ARM/standard_tpye_c/voltage_task.crf and b/InfantryTest/MDK-ARM/standard_tpye_c/voltage_task.crf differ diff --git a/InfantryTest/SAS_Code/CAN_receive.c b/InfantryTest/SAS_Code/CAN_receive.c index 6649c694d33a77bb37b4f2ac57d56c27011fc756..c8acffb87e6ae76ca9760d3cfadd6eb9ad56d587 100644 --- a/InfantryTest/SAS_Code/CAN_receive.c +++ b/InfantryTest/SAS_Code/CAN_receive.c @@ -66,6 +66,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) //get motor id //根据我们实际使用的修改 i = rx_header.StdId - CAN_3508_M1_ID; + /* if((hcan==&SHOOT_CAN)&&(i==0||i==1)) { get_motor_measure(&motor_shoot[i],rx_data); @@ -73,7 +74,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) detect_hook(FRIC1_TOE + i); break; } - + */ get_motor_measure(&motor_chassis[i], rx_data); detect_hook(CHASSIS_MOTOR1_TOE + i); // detect_hook(FRIC1_TOE); @@ -163,7 +164,7 @@ void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t mot chassis_can_send_data[6] = motor4 >> 8; chassis_can_send_data[7] = motor4; - HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); + HAL_CAN_AddTxMessage(&GIMBAL_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); } void CAN_cmd_shoot(int16_t motor5, int16_t motor6) @@ -252,3 +253,8 @@ const motor_measure_t *get_shoot_motor_measure_point(uint8_t i) return &motor_shoot[(i & 0x03)]; } +void OLED_canreceive(){ + OLED_printf(0,0,"AAAAAAAAAAAAAAAAAAAAmotor1:%d,motor2:%d,motor3:%d,motor4:%d",(int32_t)motor_chassis[0].speed_rpm,(int32_t)motor_chassis[1].speed_rpm, + (int32_t)motor_chassis[2].speed_rpm,(int32_t)motor_chassis[3].speed_rpm); +} + diff --git a/InfantryTest/SAS_Code/CAN_receive.h b/InfantryTest/SAS_Code/CAN_receive.h index c982b0da1ec20b9db19cc100418fd7050259ce2c..0bdc43aab31b6cd01c7bbecc13ccce1918c012dd 100644 --- a/InfantryTest/SAS_Code/CAN_receive.h +++ b/InfantryTest/SAS_Code/CAN_receive.h @@ -78,6 +78,8 @@ extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int1 */ extern void CAN_cmd_shoot(int16_t motor5, int16_t motor6); +extern void OLED_canreceive(); + // 用于给外面的函数提供数据 diff --git a/InfantryTest/SAS_Code/chassis_task.h b/InfantryTest/SAS_Code/chassis_task.h index ae71a29f7fb52bc58995cb06429a1c78b93a1b2b..eed7b908e2717335185958af7d806205e6908637 100644 --- a/InfantryTest/SAS_Code/chassis_task.h +++ b/InfantryTest/SAS_Code/chassis_task.h @@ -4,5 +4,6 @@ void chassis_task(void const *pvParameters); void OLED_chassis_speed(void); void OLED_chassis_yaw_ecd(void); +void OLED_chassis_current(void); #endif diff --git a/InfantryTest/SAS_Code/naive_chassis_task.c b/InfantryTest/SAS_Code/naive_chassis_task.c index fb7effd9f1bb3033e93eda5fec3a322d65fc20ee..c4bd08c9b53cbe30d468af7680f0b25bbceccf8c 100644 --- a/InfantryTest/SAS_Code/naive_chassis_task.c +++ b/InfantryTest/SAS_Code/naive_chassis_task.c @@ -89,19 +89,18 @@ #define ECD_FULL_ROUND 8192 //一圈的ECD值。实际取值0-8191 -//****************************控制量计算系数************// // #define CHASSIS_VX_RC_SEN 0.0005f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s // #define CHASSIS_VY_RC_SEN -0.0005f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 // #define CHASSIS_WZ_RC_SEN -0.0005f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 -#define CHASSIS_VX_RC_SEN 0.0025f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s -#define CHASSIS_VY_RC_SEN -0.0025f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 -#define CHASSIS_WZ_RC_SEN -0.0025f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 +#define CHASSIS_VX_RC_SEN 0.001f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s +#define CHASSIS_VY_RC_SEN -0.001f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 +#define CHASSIS_WZ_RC_SEN -0.001f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 #define CHASSIS_RC_DEADLINE 10 //低于这个值的摇杆读数一律为0 -#define MOTOR_SPEED_TO_CHASSIS_SPEED_VX 0.25f //电机旋线速度转化为机器人底盘速度。麦轮直径15cm，半径8cm +// #define MOTOR_SPEED_TO_CHASSIS_SPEED_VX 0.25f //电机旋线速度转化为机器人底盘速度。麦轮直径15cm，半径8cm #define MOTOR_SPEED_TO_CHASSIS_SPEED_VY 0.25f #define MOTOR_SPEED_TO_CHASSIS_SPEED_WZ 0.25f @@ -113,7 +112,7 @@ //***************************PID控制参数*****************// #define MAX_MOTOR_CAN_CURRENT 15000.0f //底盘3508最大can发送电流值 //底盘电机速度环PID -#define M3505_MOTOR_SPEED_PID_KP 1600000.0f +#define M3505_MOTOR_SPEED_PID_KP 10000.0f #define M3505_MOTOR_SPEED_PID_KI 0.0f #define M3505_MOTOR_SPEED_PID_KD 0.0f #define M3505_MOTOR_SPEED_PID_MAX_OUT MAX_MOTOR_CAN_CURRENT @@ -349,9 +348,9 @@ static void calcWheelVelocityInChassisAxis(void) //将控制量中的坐标系 fp32 vwy; vwy = CHASSIS_OMNIWHELL_R * CHASSIS_OMNIWHELL_SINALPHA * w; driveMotor[0].wantedMotorSpeed = (vx - vwx) * CHASSIS_OMNIWHELL_SINTHETA - (vy + vwy) * CHASSIS_OMNIWHELL_COSTHETA; - driveMotor[1].wantedMotorSpeed = (vx + vwx) * CHASSIS_OMNIWHELL_SINTHETA + (vy + vwy) * CHASSIS_OMNIWHELL_COSTHETA; + driveMotor[1].wantedMotorSpeed =-((vx + vwx) * CHASSIS_OMNIWHELL_SINTHETA + (vy + vwy) * CHASSIS_OMNIWHELL_COSTHETA); + driveMotor[2].wantedMotorSpeed =-((vx + vwx) * CHASSIS_OMNIWHELL_SINTHETA - (vy - vwy) * CHASSIS_OMNIWHELL_COSTHETA); driveMotor[3].wantedMotorSpeed = (vx - vwx) * CHASSIS_OMNIWHELL_SINTHETA + (vy - vwy) * CHASSIS_OMNIWHELL_COSTHETA; - driveMotor[2].wantedMotorSpeed = (vx + vwx) * CHASSIS_OMNIWHELL_SINTHETA - (vy - vwy) * CHASSIS_OMNIWHELL_COSTHETA; } static void firstOrderFilt() @@ -494,9 +493,7 @@ void chassis_task(void const *pvParameters) if(zeroCurrentMark) CAN_cmd_chassis(0,0,0,0); //发送零电流 else - // CAN_cmd_chassis(driveMotor[0].giveCurrent,driveMotor[1].giveCurrent, - // -driveMotor[2].giveCurrent,-driveMotor[3].giveCurrent); //正常控制电机 - CAN_cmd_chassis(30000,30000,30000,30000); + CAN_cmd_chassis(driveMotor[0].giveCurrent,driveMotor[1].giveCurrent,driveMotor[2].giveCurrent,driveMotor[3].giveCurrent); osDelay(CHASSIS_CONTROL_TIME_MS); } } @@ -509,4 +506,9 @@ void OLED_chassis_yaw_ecd(void) void OLED_chassis_speed(void) { OLED_printf(0,0,"W0:%d W1:%d W2:%d W3:%d",(int32_t)driveMotor[0].wantedMotorSpeed,(int32_t)driveMotor[1].wantedMotorSpeed,(int32_t)driveMotor[2].wantedMotorSpeed,(int32_t)driveMotor[3].wantedMotorSpeed); +} + +void OLED_chassis_current(void){ + OLED_printf(0,0,"current:m1:%d,m2:%d,m3:%d,m4:%d",(int32_t)driveMotor[0].giveCurrent,(int32_t)driveMotor[1].giveCurrent, + (int32_t)driveMotor[2].giveCurrent,(int32_t)driveMotor[3].giveCurrent); } \ No newline at end of file diff --git a/InfantryTest/application/oled_task.c b/InfantryTest/application/oled_task.c index 343d8b1fc91bcbb826bdedc0b08c0c3818b5d8d5..f322bbab239034d3e2eed1be0b2cc32e1a448da3 100644 --- a/InfantryTest/application/oled_task.c +++ b/InfantryTest/application/oled_task.c @@ -1,7 +1,7 @@ /** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file oled_task.c/h - * @brief OLED show error value.oledĻʾ + * @brief OLED show error value.oled��Ļ��ʾ������ * @note * @history * Version Date Author Modification @@ -31,8 +31,9 @@ #define OLED_DETECT_OFFLINE_OFF + // #define SHOW_CHASSIS_DATA_YAW_ECD -#define SHOW_CHASSIS_DATA_SPEED +// #define SHOW_CHASSIS_DATA_SPEED // #define SHOW_SHOOT_DATA // #define SHOW_NUC_DATA // #define SHOW_MODE_DATA @@ -40,6 +41,8 @@ // #define SHOW_SERVO_DATA // #define SHOW_REFEREE_DATA // #define SHOW_RC_DATA +#define SHOW_CHASSISECD_DATA +// #define SHOW_CHASSISCURENT_DATA const error_t *error_list_local; @@ -193,6 +196,14 @@ void oled_task(void const * argument) #ifdef SHOW_CHASSIS_DATA_SPEED OLED_chassis_speed(); #endif + +#ifdef SHOW_CHASSISCURENT_DATA + OLED_chassis_current(); +#endif + +#ifdef SHOW_CHASSISECD_DATA + OLED_canreceive(); +#endif OLED_refresh_gram(); diff --git a/InfantryTest/official_delete/chassis_power_control.c b/InfantryTest/official_delete/chassis_power_control.c index 59f7eec877155c421ce1b1ef4140f194fb70853b..1abf9fa0105330de38ffc85e79e2eb41263f000e 100644 --- a/InfantryTest/official_delete/chassis_power_control.c +++ b/InfantryTest/official_delete/chassis_power_control.c @@ -120,14 +120,14 @@ void chassis_power_control(chassis_move_t *chassis_power_control) //计算原本电机电流设定 for(uint8_t i = 0; i < 4; i++) { - total_current += fabs(chassis_power_control->motor_speed_pid[i].out); + total_current += fabs(chassis_power_control->motor_speed_[i].out); } if(total_current > total_current_limit) { fp32 current_scale = total_current_limit / total_current; - chassis_power_control->motor_speed_pid[0].out*=current_scale; + chassis_power_control->motor_speed_[0].out*=current_scale; chassis_power_control->motor_speed_pid[1].out*=current_scale; chassis_power_control->motor_speed_pid[2].out*=current_scale; chassis_power_control->motor_speed_pid[3].out*=current_scale; diff --git a/InfantryTest/official_delete/chassis_task.c b/InfantryTest/official_delete/chassis_task.c index 6f97fe06ab88e57fb7c38ef16e7584a6eebeded5..bdee5d6329e55f530fe929c90204d08c9ecbb28d 100644 --- a/InfantryTest/official_delete/chassis_task.c +++ b/InfantryTest/official_delete/chassis_task.c @@ -2,7 +2,7 @@ ****************************(C) COPYRIGHT 2019 DJI**************************** * @file chassis.c/h * @brief chassis control task, - * ̿ + * ���̿������� * @note * @history * Version Date Author Modification @@ -49,8 +49,8 @@ * @retval none */ /** - * @brief ʼ"chassis_move"pidʼ ңָʼ3508̵ָʼ̨ʼǽǶָʼ - * @param[out] chassis_move_init:"chassis_move"ָ. + * @brief ��ʼ��"chassis_move"����������pid��ʼ���� ң����ָ���ʼ����3508���̵��ָ���ʼ������̨�����ʼ���������ǽǶ�ָ���ʼ�� + * @param[out] chassis_move_init:"chassis_move"����ָ��. * @retval none */ static void chassis_init(chassis_move_t *chassis_move_init); @@ -61,8 +61,8 @@ static void chassis_init(chassis_move_t *chassis_move_init); * @retval none */ /** - * @brief õ̿ģʽҪ'chassis_behaviour_mode_set'иı - * @param[out] chassis_move_mode:"chassis_move"ָ. + * @brief ���õ��̿���ģʽ����Ҫ��'chassis_behaviour_mode_set'�����иı� + * @param[out] chassis_move_mode:"chassis_move"����ָ��. * @retval none */ static void chassis_set_mode(chassis_move_t *chassis_move_mode); @@ -73,19 +73,19 @@ static void chassis_set_mode(chassis_move_t *chassis_move_mode); * @retval none */ /** - * @brief ģʽı䣬ЩҪı䣬̿yawǶ趨ֵӦñɵǰyawǶ - * @param[out] chassis_move_transit:"chassis_move"ָ. + * @brief ����ģʽ�ı䣬��Щ������Ҫ�ı䣬������̿���yaw�Ƕ��趨ֵӦ�ñ�ɵ�ǰ����yaw�Ƕ� + * @param[out] chassis_move_transit:"chassis_move"����ָ��. * @retval none */ void chassis_mode_change_control_transit(chassis_move_t *chassis_move_transit); /** - * @brief chassis some measure data updata, such as motor speed, euler angle robot speed + * @brief chassis some measure data updata, such as motor speed, euler angle�� robot speed * @param[out] chassis_move_update: "chassis_move" valiable point * @retval none */ /** - * @brief ̲ݸ£ٶȣŷǶȣٶ - * @param[out] chassis_move_update:"chassis_move"ָ. + * @brief ���̲������ݸ��£���������ٶȣ�ŷ���Ƕȣ��������ٶ� + * @param[out] chassis_move_update:"chassis_move"����ָ��. * @retval none */ static void chassis_feedback_update(chassis_move_t *chassis_move_update); @@ -97,7 +97,7 @@ static void chassis_feedback_update(chassis_move_t *chassis_move_update); */ /** * @brief - * @param[out] chassis_move_update:"chassis_move"ָ. + * @param[out] chassis_move_update:"chassis_move"����ָ��. * @retval none */ static void chassis_set_contorl(chassis_move_t *chassis_move_control); @@ -108,8 +108,8 @@ static void chassis_set_contorl(chassis_move_t *chassis_move_control); * @retval none */ /** - * @brief ѭݿ趨ֵֵп - * @param[out] chassis_move_control_loop:"chassis_move"ָ. + * @brief ����ѭ�������ݿ����趨ֵ������������ֵ�����п��� + * @param[out] chassis_move_control_loop:"chassis_move"����ָ��. * @retval none */ static void chassis_control_loop(chassis_move_t *chassis_move_control_loop); @@ -120,7 +120,7 @@ uint32_t chassis_high_water; -//˶ +//�����˶����� chassis_move_t chassis_move; /** @@ -129,20 +129,20 @@ chassis_move_t chassis_move; * @retval none */ /** - * @brief 񣬼 CHASSIS_CONTROL_TIME_MS 2ms - * @param[in] pvParameters: + * @brief �������񣬼�� CHASSIS_CONTROL_TIME_MS 2ms + * @param[in] pvParameters: �� * @retval none */ void chassis_task(void const *pvParameters) { //wait a time - //һʱ + //����һ��ʱ�� vTaskDelay(CHASSIS_TASK_INIT_TIME); //chassis init - //̳ʼ + //���̳�ʼ�� chassis_init(&chassis_move); //make sure all chassis motor is online, - //жϵ̵Ƿ + //�жϵ��̵���Ƿ����� while (toe_is_error(CHASSIS_MOTOR1_TOE) || toe_is_error(CHASSIS_MOTOR2_TOE) || toe_is_error(CHASSIS_MOTOR3_TOE) || toe_is_error(CHASSIS_MOTOR4_TOE) || toe_is_error(DBUS_TOE)) { vTaskDelay(CHASSIS_CONTROL_TIME_MS); @@ -151,27 +151,27 @@ void chassis_task(void const *pvParameters) while (1) { //set chassis control mode - //õ̿ģʽ + //���õ��̿���ģʽ chassis_set_mode(&chassis_move); //when mode changes, some data save - //ģʽлݱ + //ģʽ�л����ݱ��� chassis_mode_change_control_transit(&chassis_move); //chassis data update - //ݸ + //�������ݸ��� chassis_feedback_update(&chassis_move); //set chassis control set-point - //̿ + //���̿��������� chassis_set_contorl(&chassis_move); //chassis control pid calculate - //̿PID + //���̿���PID���� chassis_control_loop(&chassis_move); //make sure one motor is online at least, so that the control CAN message can be received - //ȷһߣ CANưԱյ + //ȷ������һ��������ߣ� ����CAN���ư����Ա����յ� if (!(toe_is_error(CHASSIS_MOTOR1_TOE) && toe_is_error(CHASSIS_MOTOR2_TOE) && toe_is_error(CHASSIS_MOTOR3_TOE) && toe_is_error(CHASSIS_MOTOR4_TOE))) { //when remote control is offline, chassis motor should receive zero current. - //ңߵʱ򣬷͸̵. + //��ң�������ߵ�ʱ�򣬷��͸����̵�������. if (toe_is_error(DBUS_TOE)) { CAN_cmd_chassis(0, 0, 0, 0); @@ -179,13 +179,13 @@ void chassis_task(void const *pvParameters) else { //send control current - //ͿƵ + //���Ϳ��Ƶ��� CAN_cmd_chassis(chassis_move.motor_chassis[0].give_current, chassis_move.motor_chassis[1].give_current, chassis_move.motor_chassis[2].give_current, chassis_move.motor_chassis[3].give_current); } } //os delay - //ϵͳʱ + //ϵͳ��ʱ vTaskDelay(CHASSIS_CONTROL_TIME_MS); #if INCLUDE_uxTaskGetStackHighWaterMark @@ -201,8 +201,8 @@ void chassis_task(void const *pvParameters) * @retval none */ /** - * @brief ʼ"chassis_move"pidʼ ңָʼ3508̵ָʼ̨ʼǽǶָʼ - * @param[out] chassis_move_init:"chassis_move"ָ. + * @brief ��ʼ��"chassis_move"����������pid��ʼ���� ң����ָ���ʼ����3508���̵��ָ���ʼ������̨�����ʼ���������ǽǶ�ָ���ʼ�� + * @param[out] chassis_move_init:"chassis_move"����ָ��. * @retval none */ static void chassis_init(chassis_move_t *chassis_move_init) @@ -213,49 +213,49 @@ static void chassis_init(chassis_move_t *chassis_move_init) } //chassis motor speed PID - //ٶȻpidֵ + //�����ٶȻ�pidֵ const static fp32 motor_speed_pid[3] = {M3505_MOTOR_SPEED_PID_KP, M3505_MOTOR_SPEED_PID_KI, M3505_MOTOR_SPEED_PID_KD}; //chassis angle PID - //̽Ƕpidֵ + //���̽Ƕ�pidֵ const static fp32 chassis_yaw_pid[3] = {CHASSIS_FOLLOW_GIMBAL_PID_KP, CHASSIS_FOLLOW_GIMBAL_PID_KI, CHASSIS_FOLLOW_GIMBAL_PID_KD}; const static fp32 chassis_x_order_filter[1] = {CHASSIS_ACCEL_X_NUM}; const static fp32 chassis_y_order_filter[1] = {CHASSIS_ACCEL_Y_NUM}; uint8_t i; - //in beginning chassis mode is raw - //̿״̬Ϊԭʼ + //in beginning�� chassis mode is raw + //���̿���״̬Ϊԭʼ chassis_move_init->chassis_mode = CHASSIS_VECTOR_RAW; //get remote control point - //ȡңָ + //��ȡң����ָ�� chassis_move_init->chassis_RC = get_remote_control_point(); //get gyro sensor euler angle point - //ȡָ̬ + //��ȡ��������̬��ָ�� chassis_move_init->chassis_INS_angle = get_INS_angle_point(); //get gimbal motor data point - //ȡָ̨ + //��ȡ��̨�������ָ�� chassis_move_init->chassis_yaw_motor = get_yaw_motor_point(); chassis_move_init->chassis_pitch_motor = get_pitch_motor_point(); //get chassis motor data point, initialize motor speed PID - //ȡ̵ָ룬ʼPID + //��ȡ���̵������ָ�룬��ʼ��PID for (i = 0; i < 4; i++) { chassis_move_init->motor_chassis[i].chassis_motor_measure = get_chassis_motor_measure_point(i); PID_init(&chassis_move_init->motor_speed_pid[i], PID_POSITION, motor_speed_pid, M3505_MOTOR_SPEED_PID_MAX_OUT, M3505_MOTOR_SPEED_PID_MAX_IOUT); } //initialize angle PID - //ʼǶPID + //��ʼ���Ƕ�PID PID_init(&chassis_move_init->chassis_angle_pid, PID_POSITION, chassis_yaw_pid, CHASSIS_FOLLOW_GIMBAL_PID_MAX_OUT, CHASSIS_FOLLOW_GIMBAL_PID_MAX_IOUT); //first order low-pass filter replace ramp function - //һ˲б + //��һ���˲�����б���������� first_order_filter_init(&chassis_move_init->chassis_cmd_slow_set_vx, CHASSIS_CONTROL_TIME, chassis_x_order_filter); first_order_filter_init(&chassis_move_init->chassis_cmd_slow_set_vy, CHASSIS_CONTROL_TIME, chassis_y_order_filter); //max and min speed - // Сٶ + //��� ��С�ٶ� chassis_move_init->vx_max_speed = NORMAL_MAX_CHASSIS_SPEED_X; chassis_move_init->vx_min_speed = -NORMAL_MAX_CHASSIS_SPEED_X; @@ -263,7 +263,7 @@ static void chassis_init(chassis_move_t *chassis_move_init) chassis_move_init->vy_min_speed = -NORMAL_MAX_CHASSIS_SPEED_Y; //update data - //һ + //����һ������ chassis_feedback_update(chassis_move_init); } @@ -273,8 +273,8 @@ static void chassis_init(chassis_move_t *chassis_move_init) * @retval none */ /** - * @brief õ̿ģʽҪ'chassis_behaviour_mode_set'иı - * @param[out] chassis_move_mode:"chassis_move"ָ. + * @brief ���õ��̿���ģʽ����Ҫ��'chassis_behaviour_mode_set'�����иı� + * @param[out] chassis_move_mode:"chassis_move"����ָ��. * @retval none */ static void chassis_set_mode(chassis_move_t *chassis_move_mode) @@ -293,8 +293,8 @@ static void chassis_set_mode(chassis_move_t *chassis_move_mode) * @retval none */ /** - * @brief ģʽı䣬ЩҪı䣬̿yawǶ趨ֵӦñɵǰyawǶ - * @param[out] chassis_move_transit:"chassis_move"ָ. + * @brief ����ģʽ�ı䣬��Щ������Ҫ�ı䣬������̿���yaw�Ƕ��趨ֵӦ�ñ�ɵ�ǰ����yaw�Ƕ� + * @param[out] chassis_move_transit:"chassis_move"����ָ��. * @retval none */ static void chassis_mode_change_control_transit(chassis_move_t *chassis_move_transit) @@ -310,19 +310,19 @@ static void chassis_mode_change_control_transit(chassis_move_t *chassis_move_tra } //change to follow gimbal angle mode - //̨ģʽ + //���������̨ģʽ if ((chassis_move_transit->last_chassis_mode != CHASSIS_VECTOR_FOLLOW_GIMBAL_YAW) && chassis_move_transit->chassis_mode == CHASSIS_VECTOR_FOLLOW_GIMBAL_YAW) { chassis_move_transit->chassis_relative_angle_set = 0.0f; } //change to follow chassis yaw angle - //̽Ƕģʽ + //���������̽Ƕ�ģʽ else if ((chassis_move_transit->last_chassis_mode != CHASSIS_VECTOR_FOLLOW_CHASSIS_YAW) && chassis_move_transit->chassis_mode == CHASSIS_VECTOR_FOLLOW_CHASSIS_YAW) { chassis_move_transit->chassis_yaw_set = chassis_move_transit->chassis_yaw; } //change to no follow angle - //벻̨ģʽ + //���벻������̨ģʽ else if ((chassis_move_transit->last_chassis_mode != CHASSIS_VECTOR_NO_FOLLOW_YAW) && chassis_move_transit->chassis_mode == CHASSIS_VECTOR_NO_FOLLOW_YAW) { chassis_move_transit->chassis_yaw_set = chassis_move_transit->chassis_yaw; @@ -332,13 +332,13 @@ static void chassis_mode_change_control_transit(chassis_move_t *chassis_move_tra } /** - * @brief chassis some measure data updata, such as motor speed, euler angle robot speed + * @brief chassis some measure data updata, such as motor speed, euler angle�� robot speed * @param[out] chassis_move_update: "chassis_move" valiable point * @retval none */ /** - * @brief ̲ݸ£ٶȣŷǶȣٶ - * @param[out] chassis_move_update:"chassis_move"ָ. + * @brief ���̲������ݸ��£���������ٶȣ�ŷ���Ƕȣ��������ٶ� + * @param[out] chassis_move_update:"chassis_move"����ָ��. * @retval none */ static void chassis_feedback_update(chassis_move_t *chassis_move_update) @@ -352,19 +352,19 @@ static void chassis_feedback_update(chassis_move_t *chassis_move_update) for (i = 0; i < 4; i++) { //update motor speed, accel is differential of speed PID - //µٶȣٶٶȵPID΢ + //���µ���ٶȣ����ٶ����ٶȵ�PID΢�� chassis_move_update->motor_chassis[i].speed = CHASSIS_MOTOR_RPM_TO_VECTOR_SEN * chassis_move_update->motor_chassis[i].chassis_motor_measure->speed_rpm; chassis_move_update->motor_chassis[i].accel = chassis_move_update->motor_speed_pid[i].Dbuf[0] * CHASSIS_CONTROL_FREQUENCE; } //calculate vertical speed, horizontal speed ,rotation speed, left hand rule - //µٶ x ƽٶyתٶwzϵΪϵ + //���µ��������ٶ� x�� ƽ���ٶ�y����ת�ٶ�wz������ϵΪ����ϵ chassis_move_update->vx = (-chassis_move_update->motor_chassis[0].speed + chassis_move_update->motor_chassis[1].speed + chassis_move_update->motor_chassis[2].speed - chassis_move_update->motor_chassis[3].speed) * MOTOR_SPEED_TO_CHASSIS_SPEED_VX; chassis_move_update->vy = (-chassis_move_update->motor_chassis[0].speed - chassis_move_update->motor_chassis[1].speed + chassis_move_update->motor_chassis[2].speed + chassis_move_update->motor_chassis[3].speed) * MOTOR_SPEED_TO_CHASSIS_SPEED_VY; chassis_move_update->wz = (-chassis_move_update->motor_chassis[0].speed - chassis_move_update->motor_chassis[1].speed - chassis_move_update->motor_chassis[2].speed - chassis_move_update->motor_chassis[3].speed) * MOTOR_SPEED_TO_CHASSIS_SPEED_WZ / MOTOR_DISTANCE_TO_CENTER; //calculate chassis euler angle, if chassis add a new gyro sensor,please change this code - //̬Ƕ, ⲿִ + //���������̬�Ƕ�, �����������������������ⲿ�ִ��� chassis_move_update->chassis_yaw = rad_format(*(chassis_move_update->chassis_INS_angle + INS_YAW_ADDRESS_OFFSET) - chassis_move_update->chassis_yaw_motor->relative_angle); chassis_move_update->chassis_pitch = rad_format(*(chassis_move_update->chassis_INS_angle + INS_PITCH_ADDRESS_OFFSET) - chassis_move_update->chassis_pitch_motor->relative_angle); chassis_move_update->chassis_roll = *(chassis_move_update->chassis_INS_angle + INS_ROLL_ADDRESS_OFFSET); @@ -378,11 +378,11 @@ static void chassis_feedback_update(chassis_move_t *chassis_move_update) * @retval none */ /** - * @brief ңֵͨͺٶ + * @brief ����ң����ͨ��ֵ����������ͺ����ٶ� * - * @param[out] vx_set: ٶָ - * @param[out] vy_set: ٶָ - * @param[out] chassis_move_rc_to_vector: "chassis_move" ָ + * @param[out] vx_set: �����ٶ�ָ�� + * @param[out] vy_set: �����ٶ�ָ�� + * @param[out] chassis_move_rc_to_vector: "chassis_move" ����ָ�� * @retval none */ void chassis_rc_to_control_vector(fp32 *vx_set, fp32 *vy_set, chassis_move_t *chassis_move_rc_to_vector) @@ -395,7 +395,7 @@ void chassis_rc_to_control_vector(fp32 *vx_set, fp32 *vy_set, chassis_move_t *ch int16_t vx_channel, vy_channel; fp32 vx_set_channel, vy_set_channel; //deadline, because some remote control need be calibrated, the value of rocker is not zero in middle place, - //ƣΪңܴڲ ҡм䣬ֵΪ0 + //�������ƣ���Ϊң�������ܴ��ڲ��� ҡ�����м䣬��ֵ��Ϊ0 rc_deadband_limit(chassis_move_rc_to_vector->chassis_RC->rc.ch[CHASSIS_X_CHANNEL], vx_channel, CHASSIS_RC_DEADLINE); rc_deadband_limit(chassis_move_rc_to_vector->chassis_RC->rc.ch[CHASSIS_Y_CHANNEL], vy_channel, CHASSIS_RC_DEADLINE); @@ -403,7 +403,7 @@ void chassis_rc_to_control_vector(fp32 *vx_set, fp32 *vy_set, chassis_move_t *ch vy_set_channel = vy_channel * -CHASSIS_VY_RC_SEN; //keyboard set speed set-point - //̿ + //���̿��� if (chassis_move_rc_to_vector->chassis_RC->key.v & CHASSIS_FRONT_KEY) { vx_set_channel = chassis_move_rc_to_vector->vx_max_speed; @@ -423,11 +423,11 @@ void chassis_rc_to_control_vector(fp32 *vx_set, fp32 *vy_set, chassis_move_t *ch } //first order low-pass replace ramp function, calculate chassis speed set-point to improve control performance - //һ׵ͨ˲бΪٶ + //һ�׵�ͨ�˲�����б����Ϊ�����ٶ����� first_order_filter_cali(&chassis_move_rc_to_vector->chassis_cmd_slow_set_vx, vx_set_channel); first_order_filter_cali(&chassis_move_rc_to_vector->chassis_cmd_slow_set_vy, vy_set_channel); //stop command, need not slow change, set zero derectly - //ֹͣźţҪ٣ֱӼٵ + //ֹͣ�źţ�����Ҫ�������٣�ֱ�Ӽ��ٵ��� if (vx_set_channel < CHASSIS_RC_DEADLINE * CHASSIS_VX_RC_SEN && vx_set_channel > -CHASSIS_RC_DEADLINE * CHASSIS_VX_RC_SEN) { chassis_move_rc_to_vector->chassis_cmd_slow_set_vx.out = 0.0f; @@ -447,8 +447,8 @@ void chassis_rc_to_control_vector(fp32 *vx_set, fp32 *vy_set, chassis_move_t *ch * @retval none */ /** - * @brief õֵ̿, ˶ֵͨchassis_behaviour_control_setõ - * @param[out] chassis_move_update:"chassis_move"ָ. + * @brief ���õ��̿�������ֵ, ���˶�����ֵ��ͨ��chassis_behaviour_control_set�������õ� + * @param[out] chassis_move_update:"chassis_move"����ָ��. * @retval none */ static void chassis_set_contorl(chassis_move_t *chassis_move_control) @@ -461,28 +461,28 @@ static void chassis_set_contorl(chassis_move_t *chassis_move_control) fp32 vx_set = 0.0f, vy_set = 0.0f, angle_set = 0.0f; - //get three control set-point, ȡֵ + //get three control set-point, ��ȡ������������ֵ chassis_behaviour_control_set(&vx_set, &vy_set, &angle_set, chassis_move_control); //follow gimbal mode - //̨ģʽ + //������̨ģʽ if (chassis_move_control->chassis_mode == CHASSIS_VECTOR_FOLLOW_GIMBAL_YAW) { fp32 sin_yaw = 0.0f, cos_yaw = 0.0f; //rotate chassis direction, make sure vertial direction follow gimbal - //תƵٶȷ򣬱֤ǰ̨˶ƽ + //��ת���Ƶ����ٶȷ��򣬱�֤ǰ����������̨�����������˶�ƽ�� sin_yaw = arm_sin_f32(-chassis_move_control->chassis_yaw_motor->relative_angle); cos_yaw = arm_cos_f32(-chassis_move_control->chassis_yaw_motor->relative_angle); chassis_move_control->vx_set = cos_yaw * vx_set + sin_yaw * vy_set; chassis_move_control->vy_set = -sin_yaw * vx_set + cos_yaw * vy_set; //set control relative angle set-point - //ÿ̨Ƕ + //���ÿ��������̨�Ƕ� chassis_move_control->chassis_relative_angle_set = rad_format(angle_set); //calculate ratation speed - //תPIDٶ + //������תPID���ٶ� chassis_move_control->wz_set = -PID_calc(&chassis_move_control->chassis_angle_pid, chassis_move_control->chassis_yaw_motor->relative_angle, chassis_move_control->chassis_relative_angle_set); //speed limit - //ٶ޷ + //�ٶ��޷� chassis_move_control->vx_set = fp32_constrain(chassis_move_control->vx_set, chassis_move_control->vx_min_speed, chassis_move_control->vx_max_speed); chassis_move_control->vy_set = fp32_constrain(chassis_move_control->vy_set, chassis_move_control->vy_min_speed, chassis_move_control->vy_max_speed); } @@ -490,21 +490,21 @@ static void chassis_set_contorl(chassis_move_t *chassis_move_control) { fp32 delat_angle = 0.0f; //set chassis yaw angle set-point - //õ̿ƵĽǶ + //���õ��̿��ƵĽǶ� chassis_move_control->chassis_yaw_set = rad_format(angle_set); delat_angle = rad_format(chassis_move_control->chassis_yaw_set - chassis_move_control->chassis_yaw); //calculate rotation speed - //תĽٶ + //������ת�Ľ��ٶ� chassis_move_control->wz_set = PID_calc(&chassis_move_control->chassis_angle_pid, 0.0f, delat_angle); //speed limit - //ٶ޷ + //�ٶ��޷� chassis_move_control->vx_set = fp32_constrain(vx_set, chassis_move_control->vx_min_speed, chassis_move_control->vx_max_speed); chassis_move_control->vy_set = fp32_constrain(vy_set, chassis_move_control->vy_min_speed, chassis_move_control->vy_max_speed); } else if (chassis_move_control->chassis_mode == CHASSIS_VECTOR_NO_FOLLOW_YAW) { //"angle_set" is rotation speed set-point - //angle_set תٶȿ + //��angle_set�� ����ת�ٶȿ��� chassis_move_control->wz_set = angle_set; chassis_move_control->vx_set = fp32_constrain(vx_set, chassis_move_control->vx_min_speed, chassis_move_control->vx_max_speed); chassis_move_control->vy_set = fp32_constrain(vy_set, chassis_move_control->vy_min_speed, chassis_move_control->vy_max_speed); @@ -512,7 +512,7 @@ static void chassis_set_contorl(chassis_move_t *chassis_move_control) else if (chassis_move_control->chassis_mode == CHASSIS_VECTOR_RAW) { //in raw mode, set-point is sent to CAN bus - //ԭʼģʽֵǷ͵CAN + //��ԭʼģʽ������ֵ�Ƿ��͵�CAN���� chassis_move_control->vx_set = vx_set; chassis_move_control->vy_set = vy_set; chassis_move_control->wz_set = angle_set; @@ -530,17 +530,17 @@ static void chassis_set_contorl(chassis_move_t *chassis_move_control) * @retval none */ /** - * @brief ĸٶͨ - * @param[in] vx_set: ٶ - * @param[in] vy_set: ٶ - * @param[in] wz_set: תٶ - * @param[out] wheel_speed: ĸٶ + * @brief �ĸ������ٶ���ͨ������������������� + * @param[in] vx_set: �����ٶ� + * @param[in] vy_set: �����ٶ� + * @param[in] wz_set: ��ת�ٶ� + * @param[out] wheel_speed: �ĸ������ٶ� * @retval none */ static void chassis_vector_to_mecanum_wheel_speed(const fp32 vx_set, const fp32 vy_set, const fp32 wz_set, fp32 wheel_speed[4]) { //because the gimbal is in front of chassis, when chassis rotates, wheel 0 and wheel 1 should be slower and wheel 2 and wheel 3 should be faster - //תʱ ̨ǰǰ 0 1 תٶȱ 2,3 תٶȱ + //��ת��ʱ�� ������̨��ǰ��������ǰ������ 0 ��1 ��ת���ٶȱ����� �������� 2,3 ��ת���ٶȱ�� wheel_speed[0] = -vx_set - vy_set + (CHASSIS_WZ_SET_SCALE - 1.0f) * MOTOR_DISTANCE_TO_CENTER * wz_set; wheel_speed[1] = vx_set - vy_set + (CHASSIS_WZ_SET_SCALE - 1.0f) * MOTOR_DISTANCE_TO_CENTER * wz_set; wheel_speed[2] = vx_set + vy_set + (-CHASSIS_WZ_SET_SCALE - 1.0f) * MOTOR_DISTANCE_TO_CENTER * wz_set; @@ -555,8 +555,8 @@ static void chassis_vector_to_mecanum_wheel_speed(const fp32 vx_set, const fp32 * @retval none */ /** - * @brief ѭݿ趨ֵֵп - * @param[out] chassis_move_control_loop:"chassis_move"ָ. + * @brief ����ѭ�������ݿ����趨ֵ������������ֵ�����п��� + * @param[out] chassis_move_control_loop:"chassis_move"����ָ��. * @retval none */ static void chassis_control_loop(chassis_move_t *chassis_move_control_loop) @@ -567,7 +567,7 @@ static void chassis_control_loop(chassis_move_t *chassis_move_control_loop) uint8_t i = 0; //mecanum wheel speed calculation - //˶ֽ + //�����˶��ֽ� chassis_vector_to_mecanum_wheel_speed(chassis_move_control_loop->vx_set, chassis_move_control_loop->vy_set, chassis_move_control_loop->wz_set, wheel_speed); @@ -579,12 +579,12 @@ static void chassis_control_loop(chassis_move_t *chassis_move_control_loop) chassis_move_control_loop->motor_chassis[i].give_current = (int16_t)(wheel_speed[i]); } //in raw mode, derectly return - //rawֱӷ + //raw����ֱ�ӷ��� return; } //calculate the max speed in four wheels, limit the max speed - //ӿٶȣٶ + //�������ӿ�������ٶȣ�������������ٶ� for (i = 0; i < 4; i++) { chassis_move_control_loop->motor_chassis[i].speed_set = wheel_speed[i]; @@ -605,18 +605,18 @@ static void chassis_control_loop(chassis_move_t *chassis_move_control_loop) } //calculate pid - //pid + //����pid for (i = 0; i < 4; i++) { PID_calc(&chassis_move_control_loop->motor_speed_pid[i], chassis_move_control_loop->motor_chassis[i].speed, chassis_move_control_loop->motor_chassis[i].speed_set); } - //ʿ + //���ʿ��� chassis_power_control(chassis_move_control_loop); - //ֵֵ + //��ֵ����ֵ for (i = 0; i < 4; i++) { chassis_move_control_loop->motor_chassis[i].give_current = (int16_t)(chassis_move_control_loop->motor_speed_pid[i].out); diff --git a/InfantryTest/official_delete/chassis_task.h b/InfantryTest/official_delete/chassis_task.h index 9eb58d641c664d55f306e0f1484e84f39c34dd25..a50fcd66b0ab1ea036abf6129cce57c48141e6fb 100644 --- a/InfantryTest/official_delete/chassis_task.h +++ b/InfantryTest/official_delete/chassis_task.h @@ -118,7 +118,7 @@ //chassis motor speed PID //底盘电机速度环PID -#define M3505_MOTOR_SPEED_PID_KP 15000.0f +#define M3505_MOTOR_SPEED_PID_KP 15000.0f #define M3505_MOTOR_SPEED_PID_KI 10.0f #define M3505_MOTOR_SPEED_PID_KD 0.0f #define M3505_MOTOR_SPEED_PID_MAX_OUT MAX_MOTOR_CAN_CURRENT diff --git a/Sentry/Chassis/SAS_Code/CAN_receive.c b/Sentry/Chassis/SAS_Code/CAN_receive.c index 3404793e8afe2507c939a8b8f7ac7bd650daa1c0..d0444d9137385b1304a5d65697f585a9b71cedef 100644 --- a/Sentry/Chassis/SAS_Code/CAN_receive.c +++ b/Sentry/Chassis/SAS_Code/CAN_receive.c @@ -44,12 +44,12 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) uint8_t rx_data[8]; HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data); - if(hcan=&CHASSIS_UPGIMBAL_CAN) + if(hcan==&CHASSIS_UPGIMBAL_CAN) { switch (rx_header.StdId) { - + #ifdef GM6020_CURRENTMODE case CAN_CHASSIS_LF_G: case CAN_CHASSIS_RF_G: case CAN_CHASSIS_RB_G: @@ -63,6 +63,7 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) detect_hook(i+CHASSIS_LF_M_TOE); break; } + #endif case CAN_FROM_GIMBAL_XYW: { @@ -74,21 +75,31 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) } break; - case CAN_FROM_GIMBAL_MODE: - { - gimbalSTM.yawDownEcd=(int16_t)(rx_data[2]<<8|rx_data[3]); - detect_hook(GIMBALSTM32_TOE); - } - default: { break; } } - }else if(hcan=&CHASSIS_CAN) + }else if(hcan==&CHASSIS_CAN) { switch (rx_header.StdId) - { + { + #ifdef GM6020_VOLTMODE + case CAN_CHASSIS_LF_G: + case CAN_CHASSIS_RF_G: + case CAN_CHASSIS_RB_G: + case CAN_CHASSIS_LB_G: + { + static uint8_t i = 0; + //get motor id + //根据我们实际使用的修改 + i = rx_header.StdId - CAN_CHASSIS_LF_M+CHASSIS_LF_M; + get_motor_measure(&motor_chassis[i], rx_data); + detect_hook(i+CHASSIS_LF_M_TOE); + break; + } + #endif + case CAN_CHASSIS_LF_M: case CAN_CHASSIS_RF_M: case CAN_CHASSIS_RB_M: @@ -145,6 +156,7 @@ void CAN_cmd_chassis_M3508(int16_t motor1, int16_t motor2, int16_t motor3, int16 * @param[in] motor4: (7) 6020电机控制电压, 范围 [-30000,30000] * @retval none */ + void CAN_cmd_chassis_GM6020(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4) { uint32_t send_mail_box; @@ -161,9 +173,13 @@ void CAN_cmd_chassis_GM6020(int16_t motor1, int16_t motor2, int16_t motor3, int1 chassis_can_send_data[6] = motor4 >> 8; chassis_can_send_data[7] = motor4; + #ifdef GM6020_CURRENTMODE HAL_CAN_AddTxMessage(&CHASSIS_UPGIMBAL_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); + #endif + #ifdef GM6020_VOLTMODE + HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box); + #endif } - /** * @brief 发送两个底盘电机控制电流[8，9] * @param[in] motor1: (8) 6020电机控制电压, 范围 [-30000,30000] diff --git a/Sentry/Chassis/SAS_Code/CAN_receive.h b/Sentry/Chassis/SAS_Code/CAN_receive.h index 95ec9ed029bfcb8b1d1b9130f01a86e80a905f40..057bbe075e750cc73a96e15d0d28bd7ab69272fd 100644 --- a/Sentry/Chassis/SAS_Code/CAN_receive.h +++ b/Sentry/Chassis/SAS_Code/CAN_receive.h @@ -1,5 +1,6 @@ #ifndef CAN_MOTOR_H #define CAN_MOTOR_H +#define GM6020_VOLTMODE #include "struct_typedef.h" #define CHASSIS_UPGIMBAL_CAN hcan1 @@ -10,10 +11,10 @@ // #define GIMBAL_CAN hcan1 //电机的类型和约定的id枚举类型。通过修改这里的值对应更改电机 +#ifdef GM6020_CURRENTMODE typedef enum { CAN_FROM_GIMBAL_XYW=0x2FE, - CAN_FROM_GIMBAL_MODE=0x1FF, CAN_CHASSIS_M_CAN2_ID = 0x200, //表示底盘上M3508在CAN2上的标识符 CAN_CHASSIS_LF_M = 0x201, @@ -47,7 +48,46 @@ typedef enum CAN_SHOOT_UP_TRIGGER = 0x204, } can_msg_id_e; +#endif +#ifdef GM6020_VOLTMODE +typedef enum +{ + CAN_FROM_GIMBAL_XYW=0x2FF, + + CAN_CHASSIS_M_CAN2_ID = 0x200, //表示底盘上M3508在CAN2上的标识符 + CAN_CHASSIS_LF_M = 0x201, + CAN_CHASSIS_RF_M = 0x202, + CAN_CHASSIS_RB_M = 0x203, + CAN_CHASSIS_LB_M = 0x204, + + CAN_CHASSIS_G_CAN1_ID = 0x1FF, //底盘GM6020 + CAN_CHASSIS_LF_G = 0x205, + CAN_CHASSIS_RF_G = 0x206, + CAN_CHASSIS_RB_G = 0x207, + CAN_CHASSIS_LB_G = 0x208, + + CAN_DOWN_M_CAN2_ID = 0x1FF, //下云台 + CAN_DOWN_G_CAN2_ID = 0x2FF, + CAN_DOWN_M_CAN1_ID = 0x1FF, //拨弹 + CAN_DOWN_G_CAN1_ID = 0x2FF, //yawdown + CAN_YAW_UP = 0x209, + CAN_PITCH_DOWN = 0x20A, + CAN_SHOOT_DOWN_L = 0x205, + CAN_SHOOT_DOWN_R = 0x206, + CAN_SHOOT_DOWN_TRIGGER_1 = 0x207, + CAN_SHOOT_DOWN_TRIGGER_2 = 0x208, + CAN_SHOOT_DOWN_YAW_DOWN = 0x209, + + CAN_UP_M_CAN1_ID = 0x200, //上云台 + CAN_UP_G_CAN1_ID = 0x2FF, + CAN_PITCH_UP = 0x209, + CAN_SHOOT_UP_L = 0x202, + CAN_SHOOT_UP_R = 0x203, + CAN_SHOOT_UP_TRIGGER = 0x204, + +} can_msg_id_e; +#endif //电机的虚拟ID枚举,根据情况注释[节约内存] typedef enum { diff --git a/Sentry/Gimbal/SAS_Code/CAN_receive.c b/Sentry/Gimbal/SAS_Code/CAN_receive.c index d9fbd09396482dcf4a81acc15839e2152b3eb20c..3dc701e0d06e8e9472fd032a58c0cf74b73daa0c 100644 --- a/Sentry/Gimbal/SAS_Code/CAN_receive.c +++ b/Sentry/Gimbal/SAS_Code/CAN_receive.c @@ -124,11 +124,10 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) /** - * @brief 发送到底盘(1,2，3，4) - * @param[in] ：nextmode - * @param[in] ：ecd - * @param[in] : 3 2006电机控制电流, [-10000，10000]MAX=10A - * @param[in] : 4 2006电机控制电流, [-10000，10000]MAX=10A + * @brief[in] 向底盘发送下云台拨弹信息和yawdownecd + * @param[in] motor_gimbal[YAW_DOWN].ecd：yawdownecd + * @param[in] shootdownFtrigger: 2006电机控制电流, [-10000，10000]MAX=10A + * @param[in] shootdownStrigger: 2006电机控制电流, [-10000，10000]MAX=10A * @retval none */ @@ -140,8 +139,8 @@ void CAN_cmd_downtrigger( int16_t shootdownFtrigger, int16_t shootdownStrigger) gimbal_tx_message.RTR = CAN_RTR_DATA; gimbal_tx_message.DLC = 0x08; - gimbal_can_send_data[0] = motor_gimbal[YAW_DOWN].ecd >> 8; - gimbal_can_send_data[1] = motor_gimbal[YAW_DOWN].ecd; + gimbal_can_send_data[0] = 0; + gimbal_can_send_data[1] = 0; gimbal_can_send_data[2] = 0; gimbal_can_send_data[3] = 0; gimbal_can_send_data[4] = shootdownFtrigger >> 8; @@ -153,7 +152,7 @@ void CAN_cmd_downtrigger( int16_t shootdownFtrigger, int16_t shootdownStrigger) } /** - * @brief 发送下云台电机控制电流(0x209,0x20A) + * @brief 发送下云台电机控制电压(0x209,0x20A) * @param[in] yawup: (0x209) 6020电机控制电压, 范围 [-30000,30000] * @param[in] pitchdown: (0x20A) 6020电机控制电压, 范围 [-30000,30000] * @retval none @@ -232,7 +231,8 @@ void CAN_cmd_upshoot(int16_t shootupL, int16_t shootupR, int16_t shootuptriggger } /** - * @brief 发送上云台电机控制电流(0x209) + * @brief 向底盘发送信息 + * @param[in] yawDown: (0x) * @param[in] pitchup: (0x209) 6020电机控制电压, 范围 [-30000,30000] * @retval none */ @@ -245,6 +245,7 @@ void CAN_cmd_upshoot(int16_t shootupL, int16_t shootupR, int16_t shootuptriggger /** * @brief 发送上云台pitch和下云台yaw以及给底盘C板的值 + * @brief 发送到底盘(1,2，3，4) * @param[in] shootuptrigger: (0x204) 2006电机控制电流, 范围 [-10000，10000]MAX=10A * @retval none */ diff --git a/Sentry/Gimbal/SAS_Code/CAN_receive.h b/Sentry/Gimbal/SAS_Code/CAN_receive.h index 64ac2a15927b92eef5e82c127e41c33b79fe74eb..0189c7bcb19b825815dbfe1e0646ac6637af4639 100644 --- a/Sentry/Gimbal/SAS_Code/CAN_receive.h +++ b/Sentry/Gimbal/SAS_Code/CAN_receive.h @@ -1,5 +1,6 @@ #ifndef CAN_MOTOR_H #define CAN_MOTOR_H +#define GM6020_VOLTMODE //gm6020电压模式 #include "struct_typedef.h" #define DOWN_GIMBAL_CAN hcan2 @@ -14,6 +15,7 @@ // #define GIMBAL_CAN hcan1 //电机的类型和约定的id枚举类型。通过修改这里的值对应更改电机 +#ifdef GM6020_CURRNETMODE typedef enum { @@ -42,13 +44,40 @@ typedef enum CAN_SHOOT_DOWN_F_TRIGGER=0x207, //通过can1发送 CAN_SHOOT_DOWN_S_TRIGGER=0x208, //通过can1发送 - +} can_msg_id_e; +#endif - +#ifdef GM6020_VOLTMODE +typedef enum +{ + + CAN_UP_G_CAN1_ID = 0x2FF, //上云台6020 + CAN_PITCH_UP = 0x20A, + + CAN_UP_M_CAN1_ID = 0x200, //上云台 3508 + CAN_SHOOT_UP_L = 0x202, + CAN_SHOOT_UP_R = 0x203, + + CAN_UP_OTHER_CAN1_ID=0x200, //上云台2006 + CAN_SHOOT_UP_TRIGGER = 0x204, + CAN_DOWN_G_CAN2_ID = 0x2FF, //下云台6020 + CAN_YAW_UP = 0x209, + CAN_PITCH_DOWN = 0x20A, + + CAN_DOWN_G_CAN1_ID = 0x2FF, + CAN_YAW_DOWN = 0x209, //通过can1发送 + + CAN_DOWN_M_CAN2_ID = 0x1FF, //下云台3508 + CAN_SHOOT_DOWN_L = 0x205, + CAN_SHOOT_DOWN_R = 0x206, - + CAN_DOWN_OTHER_CAN1_ID=0x1FF, //下云台2006 + CAN_SHOOT_DOWN_F_TRIGGER=0x207, //通过can1发送 + CAN_SHOOT_DOWN_S_TRIGGER=0x208, //通过can1发送 + } can_msg_id_e; +#endif //电机的虚拟ID枚举,根据情况注释[节约内存] typedef enum @@ -96,7 +125,6 @@ typedef struct int8_t y; // int8_t w; // int8_t nextmode; //下一个模式 - uint16_t yawDownEcd; //下云台yaw轴的ecd }toDownSTM_t; //fromGimbalSTM_t void CAN_cmd_GM_and_downSTM(int16_t yawDown,int16_t pitchUp,toDownSTM_t DownSTM); diff --git a/Sentry/README.md b/Sentry/README.md index 15e825fc7115b2c9753e94c360038aa419d1aa59..72f18ca48c1df6a5786f57f1e5969f02eb23fba3 100644 --- a/Sentry/README.md +++ b/Sentry/README.md @@ -61,6 +61,9 @@ typedef struct - 分配时考虑电机安装地点，电机自身支持的通信方式 - 要考虑反馈时标识符不冲突（以下标识符为发送标识符） + +- GM6020使用电流模式时的ID分配： + | 虚拟ID | 型号 | 作用 | 真实ID | can总线/标识符 | | --------------- | ---- | ----------------------- | ------ | -------------- | | 上云台 | | | | | @@ -86,6 +89,33 @@ typedef struct | 6 | 6020 | 舵轮驱动 | 3 | 1/1FE | | 7 | 6020 | 舵轮驱动 | 4 | 1/1FE | +- GM6020使用电压模式时的ID分配： + +| 虚拟ID | 型号 | 作用 | 真实ID | can总线/标识符 | +| --------------- | ---- | ----------------------- | ------ | -------------- | +| 上云台 | | | | | +| 0 | 6020 | pitch up | 6 | 1/2FF | +| 1 | 3508 | 摩擦轮（左） | 2 | 1/200 | +| 2 | 3508 | 摩擦轮（右） | 3 | 1/200 | +| 3 | 2006 | 拨弹 | 4 | 1/200 | +| 下云台 | | | | | +| 4 | 6020 | yaw up | 5 | 2/2FF | +| 5 | 6020 | pitch down | 6 | 2/2FF | +| 6 | 6020 | yaw down(底下云台yaw轴) | 5 | 1/2FF | +| 7 | 3508 | 摩擦轮（左） | 5 | 2/1FF | +| 8 | 3508 | 摩擦轮（右） | 6 | 2/1FF | +| 9 | 2006 | 拨弹 | 7 | 1/1FF | +| 10 | 2006 | 拨弹 | 8 | 1/1FF | +| 底盘(第二块C板) | | | | | +| 0 | 3508 | 底盘驱动左前 | 1 | 2/200 | +| 1 | 3508 | 底盘驱动右前 | 2 | 2/200 | +| 2 | 3508 | 底盘驱动右后 | 3 | 2/200 | +| 3 | 3508 | 底盘驱动左后 | 4 | 2/200 | +| 4 | 6020 | 舵轮驱动（方向同3508） | 1 | 2/1FF | +| 5 | 6020 | 舵轮驱动 | 2 | 2/1FF | +| 6 | 6020 | 舵轮驱动 | 3 | 2/1FF | +| 7 | 6020 | 舵轮驱动 | 4 | 2/1FF | + ## 哨兵模式 ### 无力模式【mode=0】 diff --git a/lnfantry/SAS_Code/CAN_receive.c b/lnfantry/SAS_Code/CAN_receive.c index 6649c694d33a77bb37b4f2ac57d56c27011fc756..411f493fa8dbe1238e1b9ff128bd5f31caedccd5 100644 --- a/lnfantry/SAS_Code/CAN_receive.c +++ b/lnfantry/SAS_Code/CAN_receive.c @@ -252,3 +252,8 @@ const motor_measure_t *get_shoot_motor_measure_point(uint8_t i) return &motor_shoot[(i & 0x03)]; } +void OLED_canreceive(){ + OLED_printf(0,0,"AAAAAAAAAAAAAAAAAAAAmotor1:%d,motor2:%d,motor3:%d,motor4:%d",(int32_t)motor_chassis[0].speed_rpm,(int32_t)motor_chassis[1].speed_rpm, + (int32_t)motor_chassis[2].speed_rpm,(int32_t)motor_chassis[3].speed_rpm); +} + diff --git a/lnfantry/SAS_Code/CAN_receive.h b/lnfantry/SAS_Code/CAN_receive.h index c982b0da1ec20b9db19cc100418fd7050259ce2c..0bdc43aab31b6cd01c7bbecc13ccce1918c012dd 100644 --- a/lnfantry/SAS_Code/CAN_receive.h +++ b/lnfantry/SAS_Code/CAN_receive.h @@ -78,6 +78,8 @@ extern void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int1 */ extern void CAN_cmd_shoot(int16_t motor5, int16_t motor6); +extern void OLED_canreceive(); + // 用于给外面的函数提供数据 diff --git a/lnfantry/SAS_Code/naive_chassis_task.c b/lnfantry/SAS_Code/naive_chassis_task.c index 6a323c430b7a88bebcee03b97b668919427f8770..75532f574019949d89974ed5f1e13e2757867199 100644 --- a/lnfantry/SAS_Code/naive_chassis_task.c +++ b/lnfantry/SAS_Code/naive_chassis_task.c @@ -101,13 +101,10 @@ // #define CHASSIS_VY_RC_SEN -0.0005f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 // #define CHASSIS_WZ_RC_SEN -0.0005f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 -#define CHASSIS_VX_RC_SEN -0.0025f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s -#define CHASSIS_VY_RC_SEN -0.0025f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 -#define CHASSIS_WZ_RC_SEN -0.0025f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 +#define CHASSIS_VX_RC_SEN 0.001f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s +#define CHASSIS_VY_RC_SEN -0.001f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 +#define CHASSIS_WZ_RC_SEN -0.001f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 -#define CHASSIS_VX_RC_SEN 0.000025f //把遥控器摇杆读数转化为速度的系数。遥控器-660~+660.可得最大0.33m/s -#define CHASSIS_VY_RC_SEN -0.000025f //是负数，遥控器向左拉，向左平移，遥控器摇杆读数为负，在坐标系中为向y正方向 -#define CHASSIS_WZ_RC_SEN -0.000025f //最大旋转线速度。0.33m/s //是负数。遥控器右拉，向右转 #define CHASSIS_RC_DEADLINE 10 //低于这个值的摇杆读数一律为0 @@ -129,7 +126,7 @@ //***************************PID控制参数*****************// #define MAX_MOTOR_CAN_CURRENT 15000.0f //底盘3508最大can发送电流值 //底盘电机速度环PID -#define M3505_MOTOR_SPEED_PID_KP 16000.0f +#define M3505_MOTOR_SPEED_PID_KP 10000.0f #define M3505_MOTOR_SPEED_PID_KI 0.0f #define M3505_MOTOR_SPEED_PID_KD 0.0f #define M3505_MOTOR_SPEED_PID_MAX_OUT MAX_MOTOR_CAN_CURRENT @@ -595,7 +592,17 @@ void chassis_task(void const *pvParameters) } } -void OLED_chassis(void) +void OLED_chassis_yaw_ecd(void) { - OLED_printf(4,4,"YAW_ECD:%d",get_yaw_gimbal_motor_measure_point()->ecd); + OLED_printf(0,0,"YAW_ECD:%d",get_yaw_gimbal_motor_measure_point()->ecd); } + +void OLED_chassis_speed(void) +{ + OLED_printf(0,0,"W0:%d W1:%d W2:%d W3:%d",(int32_t)driveMotor[0].wantedMotorSpeed,(int32_t)driveMotor[1].wantedMotorSpeed,(int32_t)driveMotor[2].wantedMotorSpeed,(int32_t)driveMotor[3].wantedMotorSpeed); +} + +void OLED_chassis_current(void){ + OLED_printf(0,0,"current:m1:%d,m2:%d,m3:%d,m4:%d",(int32_t)driveMotor[0].giveCurrent,(int32_t)driveMotor[1].giveCurrent, + (int32_t)driveMotor[2].giveCurrent,(int32_t)driveMotor[3].giveCurrent); +} \ No newline at end of file diff --git a/lnfantry/SAS_Code/naive_chassis_task.h b/lnfantry/SAS_Code/naive_chassis_task.h index 76060e4c08d0a14d918e026fd81f54411ee1aa2f..6a99b21062a22f03abf06d6ac0490248254c2cb5 100644 --- a/lnfantry/SAS_Code/naive_chassis_task.h +++ b/lnfantry/SAS_Code/naive_chassis_task.h @@ -63,4 +63,7 @@ typedef struct //用来接受速度信息 void chassis_task(void const *pvParameters); void get_toNUCspeedData_PID(toNUCDebug *toNUCSpeedData); void get_toNUCspeedData_WANT(toNUCDebug *toNUCSpeedData); +void OLED_chassis_speed(void); +void OLED_chassis_yaw_ecd(void); +void OLED_chassis_current(void); #endif diff --git a/lnfantry/application/oled_task.c b/lnfantry/application/oled_task.c index ca5bfd7d658916d4599f6cec79477f80e5d5580d..7d5b29784bc6a5b2d28ac0f7ccf9fff2b6009dc7 100644 --- a/lnfantry/application/oled_task.c +++ b/lnfantry/application/oled_task.c @@ -1,7 +1,7 @@ /** ****************************(C) COPYRIGHT 2019 DJI**************************** * @file oled_task.c/h - * @brief OLED show error value.oledĻʾ + * @brief OLED show error value.oled��Ļ��ʾ������ * @note * @history * Version Date Author Modification @@ -24,13 +24,16 @@ #include "robot_total_mode.h" #include "CAN_receive.h" #include "servo_task.h" +#include "remote_control.h" #define OLED_CONTROL_TIME 10 #define REFRESH_RATE 10 // #define OLED_DETECT_OFFLINE_OFF -// #define SHOW_CHASSIS_DATA + +// #define SHOW_CHASSIS_DATA_YAW_ECD +// #define SHOW_CHASSIS_DATA_SPEED // #define SHOW_SHOOT_DATA // #define SHOW_NUC_DATA @@ -40,6 +43,9 @@ // #define SHOW_SERVO_DATA // #define SHOW_REFEREE_DATA +// #define SHOW_RC_DATA +// #define SHOW_CHASSISECD_DATA +// #define SHOW_CHASSISCURENT_DATA const error_t *error_list_local; @@ -161,8 +167,8 @@ void oled_task(void const * argument) -#ifdef SHOW_CHASSIS_DATA - OLED_chassis(); +#ifdef SHOW_CHASSIS_DATA_YAW_ECD + OLED_chassis_yaw_ecd(); #endif #ifdef SHOW_SHOOT_DATA OLED_Shoot(); @@ -185,6 +191,22 @@ void oled_task(void const * argument) #ifdef SHOW_REFEREE_DATA OLED_referee(); #endif + +#ifdef SHOW_RC_DATA + OLED_RC(); +#endif + +#ifdef SHOW_CHASSIS_DATA_SPEED + OLED_chassis_speed(); +#endif + +#ifdef SHOW_CHASSISCURENT_DATA + OLED_chassis_current(); +#endif + +#ifdef SHOW_CHASSISECD_DATA + OLED_canreceive(); +#endif OLED_refresh_gram();