SkyLiCoder
9b8e204ff7
- Add DEBUG mode (parallel to AUTO/MANUAL) for real-time PID parameter tuning - New 0xA8 debug frame: 12 floats for vision/motor angle PID tuning params - DMMotorSetMode: send zero-velocity before disable, clear PID to prevent jumps - motor_enable topic: pub from robot_cmd, sub in gimbal, controls motor on/off - motor_pid topic: pub from robot_cmd, sub in gimbal, updates motor angle PID - Rename DM motor enums (DM_CMD_ENABLE_MODE/DISABLE_MODE, DM_Motor_Ctrl_Mode_e) - SwitchToAuto/Manual: re-enable motors when switching back from DEBUG mode - Static-allocate enable_msg/pid_tune in GimbalTask to avoid stack churn - Add docs/host_comm_guide.md with Python Tkinter tuning GUI example - Remove ARCHITECTURE.md
66 lines
1.4 KiB
C
66 lines
1.4 KiB
C
#pragma once
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#ifndef ROBOT_DEF_H
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#define ROBOT_DEF_H
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#include "ins_task.h"
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#include "stdint.h"
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/* 开发板类型定义 */
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#define ONE_BOARD // 单板控制整车
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//#define VISION_USE_VCP // 使用虚拟串口发送视觉数据
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#define VISION_USE_UART // 使用串口发送视觉数据
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/* 云台参数 */
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#define YAW_CHASSIS_ALIGN_ECD 2711
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#define PITCH_HORIZON_ECD 3412
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#define PITCH_MAX_ANGLE 0
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#define PITCH_MIN_ANGLE 0
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/* IMU->云台方向 */
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#define GYRO2GIMBAL_DIR_YAW 1
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#define GYRO2GIMBAL_DIR_PITCH 1
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#define GYRO2GIMBAL_DIR_ROLL 1
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#pragma pack(1)
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/* 应用状态 */
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typedef enum
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{
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APP_OFFLINE = 0,
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APP_ONLINE,
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APP_ERROR,
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} App_Status_e;
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/* ---- CMD 发布给 gimbal 的控制数据 ---- */
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typedef struct
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{
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float yaw; // yaw 目标角度 (degrees, multi-turn)
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float pitch; // pitch 目标角度 (degrees)
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} Gimbal_Ctrl_Cmd_s;
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/* ---- gimbal 发布给 CMD 的反馈数据 ---- */
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typedef struct
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{
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INS_t *gimbal_imu_data; // 指向 INS 实例的指针
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uint16_t yaw_motor_single_round_angle;
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uint8_t gimbal_power;
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} Gimbal_Upload_Data_s;
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/* ---- CMD 发布给 gimbal 的电机使能指令 ---- */
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typedef struct
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{
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uint8_t enable; // 0=失能, 1=使能
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} Motor_Enable_s;
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/* ---- CMD 发布给 gimbal 的电机角度环 PID 参数 ---- */
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typedef struct
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{
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float yaw_Kp, yaw_Ki, yaw_Kd;
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float pitch_Kp, pitch_Ki, pitch_Kd;
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} Motor_PID_Tune_s;
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#pragma pack()
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#endif // !ROBOT_DEF_H
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