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refactor: replace vision error_x/y with measure/ref in 0xA5 frame

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Change 0xA5 frame from 2-float (error_x, error_y) to 4-float
(measure_x, ref_x, measure_y, ref_y) so PIDCalculate receives
actual measurement and reference values internally computing error.
This commit is contained in:
李傲琦
2026-06-04 13:55:40 +08:00
parent fd2386d33a
commit c0f43940bd
6 changed files with 85 additions and 67 deletions
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modules/master_machine/master_machine.c
+4 -2
View File
@@ -29,8 +29,10 @@ static void DecodeVision()
{
if (calc_checksum(buf, VISION_AUTO_LEN) != buf[VISION_AUTO_LEN - 1])
return;
memcpy(&vision_data.error_x, buf + 1, 4);
memcpy(&vision_data.error_y, buf + 5, 4);
memcpy(&vision_data.measure_x, buf + 1, 4);
memcpy(&vision_data.ref_x, buf + 5, 4);
memcpy(&vision_data.measure_y, buf + 9, 4);
memcpy(&vision_data.ref_y, buf + 13, 4);
vision_data.auto_updated = 1;
}
else if (sof == VISION_SOF_MANUAL && len == VISION_MANUAL_LEN)
modules/master_machine/master_machine.h
+9 -6
View File
@@ -11,9 +11,10 @@
/*
* 上位机串口协议 — 四种帧类型, 通过帧头区分
*
* ---- 自动/视觉追踪数据帧 0xA5 (10 字节) ----
* [SOF:0xA5][error_x:4][error_y:4][checksum:1]
* error_x/y: float, 归一化误差, 视觉PID外环反馈值
* ---- 自动/视觉追踪数据帧 0xA5 (18 字节) ----
* [SOF:0xA5][measure_x:4][ref_x:4][measure_y:4][ref_y:4][checksum:1]
* measure_x/y: float, 视觉检测目标位置 (测量值)
* ref_x/y: float, 期望目标位置 (参考值)
*
* ---- 手动控制数据帧 0xA6 (10 字节) ----
* [SOF:0xA6][yaw_velocity:4][pitch_velocity:4][checksum:1]
@@ -38,7 +39,7 @@
#define VISION_SOF_CMD 0xA7
#define VISION_SOF_DEBUG 0xA8
#define VISION_AUTO_LEN 10
#define VISION_AUTO_LEN 18
#define VISION_MANUAL_LEN 10
#define VISION_CMD_LEN 3
#define VISION_DEBUG_LEN 50
@@ -61,8 +62,10 @@ typedef enum
typedef struct
{
/* 自动模式数据 */
float error_x;
float error_y;
float measure_x;
float ref_x;
float measure_y;
float ref_y;
uint8_t auto_updated; // 收到新的自动数据帧标志
/* 手动模式数据 */