// app #include "robot_def.h" #include "robot_cmd.h" // module #include "controller.h" #include "remote_control.h" #include "ins_task.h" #include "master_process.h" #include "message_center.h" #include "general_def.h" #include "dji_motor.h" #include "bmi088.h" #include "vofa.h" #include "board_comm.h" // bsp #include "bsp_dwt.h" #include "bsp_log.h" #include "opencv.h" #include "step_motor.h" #include "kalman_filter.h" #include "arm_math.h" #define mapping(x, in_min, in_max, out_min, out_max) \ ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min) // 添加卡尔曼滤波器实例 static KalmanFilter_t yaw_error_kf; static KalmanFilter_t pitch_error_kf; static float filtered_yaw_error = 0.0f; static float filtered_pitch_error = 0.0f; // 私有宏,自动将编码器转换成角度值 #define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360 #define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360 #define yaw_control_kxmax 0.001f #define yaw_control_kxmin 0.0005f #define pitch_control_kxmax 0.001f #define pitch_control_kxmin 0.0004f /* cmd应用包含的模块实例指针和交互信息存储*/ #ifdef GIMBAL_BOARD // 对双板的兼容,条件编译 #include "can_comm.h" static CANCommInstance *cmd_can_comm; // 双板通信 #endif #ifdef ONE_BOARD static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者 static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者 #endif // ONE_BOARD static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关 static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等 static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回 static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回 static Vision_Send_s vision_send_data; // 视觉发送数据 static board_comm_data_t *board_comm_data; // 板间通信数据指针,初始化时返回 static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者 static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者 static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息 static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息 static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者 static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者 static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息 static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息 static Robot_Status_e robot_state; // 机器人整体工作状态 PIDInstance yaw_tracking_pid; // 云台yaw跟随pid PIDInstance pitch_tracking_pid; // 云台pitch跟随pid static float yaw_tracking_pid_output; // 云台yaw跟随pid输出 static float pitch_tracking_pid_output; // 云台pitch跟随pid输出 static float vofa_debug[7]; // #define PITCH_HORIZON_ECD 6800 // 俯仰水平时的电机编码器 // 在RobotCMDInit()中添加卡尔曼滤波器初始化 static void VisionKalmanFilterInit() { // yaw误差卡尔曼滤波器初始化 Kalman_Filter_Init(&yaw_error_kf, 2, 0, 1); // 状态2维(位置,速度), 控制0维, 观测1维 static float P_init_yaw[4] = { 5.0f, 0.0f, // 减小初始不确定性 0.0f, 5.0f}; memcpy(yaw_error_kf.P_data, P_init_yaw, sizeof(P_init_yaw)); // 状态转移矩阵F (dt = 1/200 = 0.005s, 200Hz控制频率) static float F_init_yaw[4] = { 1.0f, 0.005f, // 修正时间步长 0.0f, 1.0f}; memcpy(yaw_error_kf.F_data, F_init_yaw, sizeof(F_init_yaw)); // 过程噪声协方差矩阵Q static float Q_init_yaw[4] = { 0.1f, 0.0f, // 增大位置过程噪声 0.0f, 1.0f // 增大速度过程噪声 }; memcpy(yaw_error_kf.Q_data, Q_init_yaw, sizeof(Q_init_yaw)); // 观测矩阵H static uint8_t measurement_map_yaw[1] = {1}; // 观测第1个状态(位置) static float measurement_degree_yaw[1] = {1.0f}; static float mat_R_diagonal_yaw[1] = {1.0f}; // 减小观测噪声，增加对观测的信任 static float state_min_variance_yaw[2] = {0.001f, 0.001f}; // 减小最小方差 yaw_error_kf.UseAutoAdjustment = 1; memcpy(yaw_error_kf.MeasurementMap, measurement_map_yaw, sizeof(measurement_map_yaw)); memcpy(yaw_error_kf.MeasurementDegree, measurement_degree_yaw, sizeof(measurement_degree_yaw)); memcpy(yaw_error_kf.MatR_DiagonalElements, mat_R_diagonal_yaw, sizeof(mat_R_diagonal_yaw)); memcpy(yaw_error_kf.StateMinVariance, state_min_variance_yaw, sizeof(state_min_variance_yaw)); // pitch误差卡尔曼滤波器初始化 Kalman_Filter_Init(&pitch_error_kf, 2, 0, 1); // 状态2维(位置,速度), 控制0维, 观测1维 static float P_init_pitch[4] = { 5.0f, 0.0f, // 减小初始不确定性 0.0f, 5.0f}; memcpy(pitch_error_kf.P_data, P_init_pitch, sizeof(P_init_pitch)); // 状态转移矩阵F (dt = 1/200 = 0.005s, 200Hz控制频率) static float F_init_pitch[4] = { 1.0f, 0.005f, // 修正时间步长 0.0f, 1.0f}; memcpy(pitch_error_kf.F_data, F_init_pitch, sizeof(F_init_pitch)); // 过程噪声协方差矩阵Q static float Q_init_pitch[4] = { 0.1f, 0.0f, // 增大位置过程噪声 0.0f, 1.0f // 增大速度过程噪声 }; memcpy(pitch_error_kf.Q_data, Q_init_pitch, sizeof(Q_init_pitch)); // 观测矩阵H static uint8_t measurement_map_pitch[1] = {1}; // 观测第1个状态(位置) static float measurement_degree_pitch[1] = {1.0f}; static float mat_R_diagonal_pitch[1] = {1.0f}; // 减小观测噪声，增加对观测的信任 static float state_min_variance_pitch[2] = {0.001f, 0.001f}; // 减小最小方差 pitch_error_kf.UseAutoAdjustment = 1; memcpy(pitch_error_kf.MeasurementMap, measurement_map_pitch, sizeof(measurement_map_pitch)); memcpy(pitch_error_kf.MeasurementDegree, measurement_degree_pitch, sizeof(measurement_degree_pitch)); memcpy(pitch_error_kf.MatR_DiagonalElements, mat_R_diagonal_pitch, sizeof(mat_R_diagonal_pitch)); memcpy(pitch_error_kf.StateMinVariance, state_min_variance_pitch, sizeof(state_min_variance_pitch)); } void RobotCMDInit() { rc_data = RemoteControlInit(&huart5); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个 gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s)); gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s)); shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s)); shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s)); chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s)); chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s)); static PID_Init_Config_s yaw_tracking_pid_config = { .Kp = 1.5f, .Ki = 3.0f, .Kd = 0.07f, .IntegralLimit = 100.0f, .CoefB = 20.0f, .CoefA = 20.0f, // .Output_LPF_RC = 0.002f, // 100Hz .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate, .MaxOut = 200.0f, }; static PID_Init_Config_s pitch_tracking_pid_config = { .Kp = 1.0f, .Ki = 2.0f, .Kd = 0.05f, .IntegralLimit = 100.0f, .CoefB = 10.0f, .CoefA = 30.0f, // .Output_LPF_RC = 0.002f, // 100Hz .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_ChangingIntegrationRate, .MaxOut = 200.0f, }; PIDInit(&yaw_tracking_pid, &yaw_tracking_pid_config); PIDInit(&pitch_tracking_pid, &pitch_tracking_pid_config); VisionKalmanFilterInit(); Vision_Uart_Init(&huart10); board_comm_data = BoardCommInit(&huart1); // 初始化板间通信数据指针 robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入 } static uint8_t first_circle_flag = 1; static float circle_progress = 0; // 画圆进度 100%为一圈 static float circle_radius = 60.0f; // 画圆半径 static float circle_angle = 0.0f; // 当前圆周角度 static float target_x = 0.0f; // 圆周上目标点x坐标 static float target_y = 0.0f; // 圆周上目标点y坐标 /** * @brief 控制输入为遥控器(调试时)的模式和控制量设置 * */ static void RemoteControlSet() { chassis_cmd_send.chassis_mode = CHASSIS_NO_FOLLOW; gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (!switch_is_down(rc_data[TEMP].rc.switch_left)) { if (Vison_revc_flag && switch_is_mid(rc_data[TEMP].rc.switch_left)) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 0); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; // pitch角度控制 vofa_debug[0] = opencv_Vision_data[0]; // 调试用 vofa_debug[1] = filtered_yaw_error; // 调试用 vofa_debug[2] = yaw_tracking_pid.Err; // 调试用 vofa_debug[3] = yaw_tracking_pid.Pout; // 调试用 vofa_debug[4] = yaw_tracking_pid.Iout; // 调试用 vofa_debug[5] = yaw_tracking_pid.Dout; // 调试用 vofa_debug[6] = yaw_tracking_pid.Output; // 调试用 vofa_justfloat_output(vofa_debug, 7, &huart7); first_circle_flag = 1; // 重置画圆标志 } else if (switch_is_up(rc_data[TEMP].rc.switch_left)) { if (first_circle_flag) { circle_progress = 0; circle_angle = 0.0f; first_circle_flag = 0; } LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; // 画圆模式 500hz 16s画完整圆 circle_progress += 0.000125f; // 每次增加1/16 if (circle_progress >= 1.0f) { circle_progress = 1.0f; // 限制在100% } circle_angle = 2.0f * PI * circle_progress; // 计算当前圆周角度 target_x = circle_radius * cosf(circle_angle); // 计算圆周上目标点x坐标 target_y = circle_radius * sinf(circle_angle); // 计算圆周上目标点y坐标 yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, target_x); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, target_y); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += pitch_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, pitch_control_kxmax, pitch_control_kxmin); // pitch角度控制 } else { first_circle_flag = 1; // 重置画圆标志 gimbal_cmd_send.yaw -= 0.0025f * (float)rc_data[TEMP].rc.rocker_r_; // yaw角度控制 gimbal_cmd_send.pitch += 0.00125f * (float)rc_data[TEMP].rc.rocker_r1; // pitch角度控制 } } else { gimbal_cmd_send.yaw -= 0.0025f * (float)rc_data[TEMP].rc.rocker_r_; // yaw角度控制 gimbal_cmd_send.pitch += 0.00125f * (float)rc_data[TEMP].rc.rocker_r1; // pitch角度控制 } if (gimbal_cmd_send.pitch > 30.0f) // 限制pitch角度 gimbal_cmd_send.pitch = 30.0f; else if (gimbal_cmd_send.pitch < -30.0f) gimbal_cmd_send.pitch = -30.0f; } void laser_on() { HAL_GPIO_WritePin(POWER_5V_GPIO_Port, POWER_5V_Pin, GPIO_PIN_SET); } void laser_off() { HAL_GPIO_WritePin(POWER_5V_GPIO_Port, POWER_5V_Pin, GPIO_PIN_RESET); } enum YunTaiState_e { YUNT_IDLE = 0, // 云台无任务 YUNT_NO1, // 云台题号1准备 YUNT_NO2_WAITING, YUNT_NO2, YUNT_NO3_WAITING, YUNT_NO3_TURING, YUNT_NO3_SEARCHING, YUNT_NO3_TRACKING, YUNT_NO4_1_WAITING, YUNT_NO4_1_TURING, YUNT_NO4_1_TRACKING, YUNT_NO4_1_TRACKING_RUNNING, YUNT_NO4_3_WAITING, YUNT_NO4_3_TURING, YUNT_NO4_3_TRACKING, YUNT_NO4_3_TRACKING_RUNNING, } YunTaiState = YUNT_IDLE; // 云台状态机 static float yuntai_no3_yawtarget = 0.0f; // 云台题号3目标yaw角度 static float yuntai_no3_searching_yaw = 0.0f; // 云台题号3搜索yaw角度 static float yuntai_no3_searching_yaw_max = 60.0f; // 云台yaw题号3搜索最大yaw角度 static float yuntai_no3_searching_yaw_min = -60.0f; // 云台yaw题号3搜索最小yaw角度 static float yuntai_no3_searching_step = 0.2f; // 云台题号3搜索步长,每次0.18度 static uint8_t yuntai_no3_searching_dir = 0; // 云台题号3搜索方向, 0: -, 1:+ static int16_t yuntai_no3_searching_count = 50; // 3计数器 static uint8_t no4_turning_count = 0; // 题号4转向计数器 static uint8_t no4_turning_status = 0; // 题号4转向状态 static uint8_t no4_turning_feedforward = 0.05; static float timestart_timeline = 0.0f; // 题号开始时间 /** * @brief 题号状态机 * */ static void AutoSet() { yaw_tracking_pid.Ki = 3.0f; switch (board_comm_data->rx_int_data[0]) // 根据板间通信数据的第一个整数值来判断题号 { case 1: YunTaiState = YUNT_NO1; break; case 2: if (board_comm_data->rx_int_data[1] == 0) { YunTaiState = YUNT_NO2_WAITING; } else { YunTaiState = YUNT_NO2; // 进入题号2状态 } break; case 3: if (board_comm_data->rx_int_data[1] == 0) { YunTaiState = YUNT_NO3_WAITING; } else if (YunTaiState == YUNT_NO3_WAITING) { YunTaiState = YUNT_NO3_TURING; // 进入题号3转向状态 } break; case 4: case 5: if (board_comm_data->rx_int_data[1] == 0) { YunTaiState = YUNT_NO4_1_WAITING; // 进入题号4-1等待状态 } else if (board_comm_data->rx_int_data[1] == 1 && YunTaiState == YUNT_NO4_1_WAITING) { YunTaiState = YUNT_NO4_1_TURING; // 进入题号4-1转向状态 } else if (board_comm_data->rx_int_data[1] == 2) { YunTaiState = YUNT_NO4_1_TRACKING_RUNNING; } break; case 6: if (board_comm_data->rx_int_data[1] == 0) { YunTaiState = YUNT_NO4_3_WAITING; // 进入题号4-3等待状态 } else if (board_comm_data->rx_int_data[1] == 1 && YunTaiState == YUNT_NO4_3_WAITING) { YunTaiState = YUNT_NO4_3_TURING; // 进入题号4-3状态 } else if (board_comm_data->rx_int_data[1] == 2) { YunTaiState = YUNT_NO4_3_TRACKING_RUNNING; } default: break; } switch (YunTaiState) { case YUNT_NO1: gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; laser_off(); break; case YUNT_NO2_WAITING: gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; timestart_timeline = DWT_GetTimeline_ms(); // 记录开始时间 laser_off(); break; case YUNT_NO2: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (DWT_GetTimeline_ms() - timestart_timeline >= 1500.0f) { laser_on(); } else { if (Vison_revc_flag) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 0); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; } } break; case YUNT_NO3_WAITING: gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; // 计算0度对应最接近的多圈yaw yuntai_no3_yawtarget = roundf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360.0f) * 360.0f; // 计算最近的多圈yaw laser_off(); timestart_timeline = DWT_GetTimeline_ms(); // 记录开始时间 break; case YUNT_NO3_TURING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; float yaw_diff = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle - yuntai_no3_yawtarget; // 计算当前yaw与目标yaw的差值 float step_size = 0.8f; // 90度每秒, 500hz控制频率下每次0.18度 if (fabsf(yaw_diff) > step_size) // 如果差值大于180度,则调整到最小角度 { if (yaw_diff > 0) gimbal_cmd_send.yaw -= step_size; else gimbal_cmd_send.yaw += step_size; } if (fabsf(yaw_diff) <= 5.0f) // 如果差值小于5度,则认为转向完成 { if (Vison_revc_flag) { YunTaiState = YUNT_NO3_TRACKING; // 进入跟踪状态 } else { YunTaiState = YUNT_NO3_SEARCHING; // 进入搜索状态 } } gimbal_cmd_send.pitch = 0; break; case YUNT_NO3_TRACKING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (DWT_GetTimeline_ms() - timestart_timeline >= 3500.0f) // 如果超过3.5秒,则认为跟踪完成 { laser_on(); } else { if (Vison_revc_flag && Vison_Frequency >= 20.0f) // 如果视觉数据可用且频率大于20Hz { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 0); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; } else { YunTaiState = YUNT_NO3_SEARCHING; // 如果视觉数据不可用,则进入搜索状态 } } break; case YUNT_NO3_SEARCHING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (yuntai_no3_searching_dir == 0) // 如果当前是向左搜索 { gimbal_cmd_send.yaw += yuntai_no3_searching_step; // 向左搜索 if (gimbal_cmd_send.yaw > yuntai_no3_searching_yaw_max + yuntai_no3_yawtarget) // 如果超过最小值,则切换方向 { yuntai_no3_searching_dir = 1; // 切换到向右搜索 } } else // 当前是向右搜索 { gimbal_cmd_send.yaw -= yuntai_no3_searching_step; // 向右搜索 if (gimbal_cmd_send.yaw < yuntai_no3_searching_yaw_min + yuntai_no3_yawtarget) // 如果超过最大值,则切换方向 { yuntai_no3_searching_dir = 0; // 切换到向左搜索 } } gimbal_cmd_send.pitch = 0.0f; // 保持pitch角度为0 if (Vison_revc_flag && Vison_Frequency >= 20.0f) { yuntai_no3_searching_count--; } else { yuntai_no3_searching_count = 100; // 如果视觉数据可用但频率低于20Hz,则重置计数器 } if (yuntai_no3_searching_count <= 0) { YunTaiState = YUNT_NO3_TRACKING; // 如果视觉数据可用,则进入跟踪状态 } break; case YUNT_NO4_1_WAITING: gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; // 计算0度对应最接近的多圈yaw yuntai_no3_yawtarget = roundf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360.0f) * 360.0f; // 计算最近的多圈yaw no4_turning_count = 0; // 题号4转向计数器 no4_turning_status = 0; // 题号4转向状态 timestart_timeline = DWT_GetTimeline_ms(); // 记录开始时间 laser_off(); break; case YUNT_NO4_1_TURING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; gimbal_cmd_send.yaw = yuntai_no3_yawtarget - 45.0f; gimbal_cmd_send.pitch = 0.0f; // 保持pitch角度为0 if (fabsf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle - yuntai_no3_yawtarget + 45.0f) < 5.0f) { YunTaiState = YUNT_NO4_1_TRACKING; // 进入跟踪状态 } break; case YUNT_NO4_1_TRACKING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (Vison_revc_flag) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 0); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; } break; case YUNT_NO4_1_TRACKING_RUNNING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (board_comm_data->rx_float_data[1] >= 600.0f) { no4_turning_status = 1; // 题号4转向状态 if (board_comm_data->rx_float_data[0] >= 0.0f && board_comm_data->rx_float_data[0] <= 12.5f) { no4_turning_count = 1; } else if (board_comm_data->rx_float_data[0] > 12.5f && board_comm_data->rx_float_data[0] <= 37.5f) { no4_turning_count = 2; } else if (board_comm_data->rx_float_data[0] > 37.5f && board_comm_data->rx_float_data[0] <= 62.5f) { no4_turning_count = 3; } else if (board_comm_data->rx_float_data[0] > 62.5f && board_comm_data->rx_float_data[0] <= 87.5f) { no4_turning_count = 4; } } else { no4_turning_status = 0; // 题号4转向状态 } if (Vison_revc_flag) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 0); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; if (no4_turning_status == 1 && (no4_turning_count >=1 && no4_turning_count <=4)) // 如果题号4转向状态为1且转向计数器为1到4 { yaw_tracking_pid.Kp = 3.0f; // 关闭yaw比例 yaw_tracking_pid.Ki = 0.0f; // 关闭yaw积分 yaw_tracking_pid.Iout = 0.0f; // 清零yaw积分输出 gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 } else { yaw_tracking_pid.Kp = 2.0f; // 关闭yaw比例 yaw_tracking_pid.Ki = 4.0f; gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 } laser_on(); } break; case YUNT_NO4_3_WAITING: gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; no4_turning_count = 0; // 题号4转向计数器 no4_turning_status = 0; // 题号4转向状态 // 计算0度对应最接近的多圈yaw yuntai_no3_yawtarget = roundf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360.0f) * 360.0f; // 计算最近的多圈yaw timestart_timeline = DWT_GetTimeline_ms(); // 记录开始时间 laser_off(); break; case YUNT_NO4_3_TURING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; gimbal_cmd_send.yaw = yuntai_no3_yawtarget - 45.0f; gimbal_cmd_send.pitch = 0.0f; // 保持pitch角度为0 if (fabsf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle - yuntai_no3_yawtarget + 45.0f) < 5.0f) { YunTaiState = YUNT_NO4_3_TRACKING; // 进入跟踪状态 } break; case YUNT_NO4_3_TRACKING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (Vison_revc_flag) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, 60.0f); // 题号4-3目标error为60 pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, 0); gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 gimbal_cmd_send.pitch += 0.001f * pitch_tracking_pid_output; } break; case YUNT_NO4_3_TRACKING_RUNNING: gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; if (board_comm_data->rx_float_data[1] >= 600.0f) { no4_turning_status = 1; // 题号4转向状态 if (board_comm_data->rx_float_data[0] >= 0.0f && board_comm_data->rx_float_data[0] <= 12.5f) { no4_turning_count = 1; } else if (board_comm_data->rx_float_data[0] > 12.5f && board_comm_data->rx_float_data[0] <= 37.5f) { no4_turning_count = 2; } else if (board_comm_data->rx_float_data[0] > 37.5f && board_comm_data->rx_float_data[0] <= 62.5f) { no4_turning_count = 3; } else if (board_comm_data->rx_float_data[0] > 62.5f && board_comm_data->rx_float_data[0] <= 87.5f) { no4_turning_count = 4; } } else { no4_turning_status = 0; // 题号4转向状态 } if (Vison_revc_flag) { LIMIT_MIN_MAX(opencv_Vision_data[0], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[1], -100.0f, 100.0f); LIMIT_MIN_MAX(opencv_Vision_data[2], 500.0f, 1560.0f); yaw_error_kf.MeasuredVector[0] = opencv_Vision_data[0]; float *yaw_filtered = Kalman_Filter_Update(&yaw_error_kf); filtered_yaw_error = yaw_filtered[0]; pitch_error_kf.MeasuredVector[0] = opencv_Vision_data[1]; float *pitch_filtered = Kalman_Filter_Update(&pitch_error_kf); filtered_pitch_error = pitch_filtered[0]; // 画圆模式 500hz 16s画完整圆 circle_progress = board_comm_data->rx_float_data[0] / 100.0f; // 画圆进度,从板间通信数据获取 if (circle_progress >= 1.0f) { circle_progress = 1.0f; // 限制在100% } circle_angle = 2.0f * PI * circle_progress; // 计算当前圆周角度 target_x = circle_radius * cosf(circle_angle); // 计算圆周上目标点x坐标 target_y = circle_radius * sinf(circle_angle); // 计算圆周上目标点y坐标 yaw_tracking_pid_output = PIDCalculate(&yaw_tracking_pid, filtered_yaw_error, target_x); pitch_tracking_pid_output = PIDCalculate(&pitch_tracking_pid, filtered_pitch_error, target_y); gimbal_cmd_send.pitch += pitch_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, pitch_control_kxmax, pitch_control_kxmin); // pitch角度控制 if (no4_turning_status == 1 && (no4_turning_count == 2 || no4_turning_count == 3)) // 如果题号4转向状态为1且转向计数器为2或3 { yaw_tracking_pid.Kp = 3.0f; // 关闭yaw比例 yaw_tracking_pid.Ki = 0.0f; // 关闭yaw积分 yaw_tracking_pid.Iout = 0.0f; // 清零yaw积分输出 gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 } else { yaw_tracking_pid.Kp = 1.5f; // 关闭yaw比例 yaw_tracking_pid.Ki = 3.0f; gimbal_cmd_send.yaw -= yaw_tracking_pid_output * mapping(opencv_Vision_data[2], 500.0f, 1560.0f, yaw_control_kxmax, yaw_control_kxmin); // yaw角度控制 } } laser_on(); break; default: break; } } /** * @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等 * 停止的阈值'300'待修改成合适的值,或改为开关控制. * * @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现 * */ static void EmergencyHandler() { // 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正 if (switch_is_down(rc_data[TEMP].rc.switch_right) || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断 { robot_state = ROBOT_STOP; gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE; chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE; gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle; gimbal_cmd_send.pitch = gimbal_fetch_data.gimbal_imu_data.Pitch; LOGERROR("[CMD] emergency stop!"); } // 遥控器右侧开关为[上],恢复正常运行 if (!switch_is_down(rc_data[TEMP].rc.switch_right) && robot_state == ROBOT_STOP) { robot_state = ROBOT_READY; LOGINFO("[CMD] reinstate, robot ready"); } } /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */ void RobotCMDTask() { // 从其他应用获取回传数据 #ifdef ONE_BOARD SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data); #endif // ONE_BOARD #ifdef GIMBAL_BOARD chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm); #endif // GIMBAL_BOARD SubGetMessage(shoot_feed_sub, &shoot_fetch_data); SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data); // 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠 if (switch_is_mid(rc_data[TEMP].rc.switch_right)) { RemoteControlSet(); } else if (switch_is_up(rc_data[TEMP].rc.switch_right) || !RemoteControlIsOnline()) { AutoSet(); } // AutoSet(); EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 #ifdef ONE_BOARD PubPushMessage(chassis_cmd_pub, (void *)&chassis_cmd_send); #endif // ONE_BOARD #ifdef GIMBAL_BOARD CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send); #endif // GIMBAL_BOARD PubPushMessage(shoot_cmd_pub, (void *)&shoot_cmd_send); PubPushMessage(gimbal_cmd_pub, (void *)&gimbal_cmd_send); }