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新增：配合界面增加竖直左右换道；日志；

master FW3.0版本10.10
LIN\54376 4 weeks ago
parent
50c3cd6f3b
commit
27f6b7dfea
20 changed files with 327 additions and 201 deletions
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  1. 1
      .settings/language.settings.xml
  2. 3
      BASE/Inc/MSP/msp_U7.h
  3. 4
      BASE/Src/BSP/bsp_decode_command.c
  4. 91
      BASE/Src/MSP/msp_U7.c
  5. 9
      Core/Inc/FSM.h
  6. 8
      Core/Inc/robot_state.h
  7. 2
      Core/Protobuf/PSource/bsp_Cmd.pb.c
  8. 13
      Core/Protobuf/PSource/bsp_Cmd.pb.h
  9. 12
      Core/Protobuf/PSource/bsp_Error.pb.h
  10. 2
      Core/Protobuf/PSource/bsp_GV.pb.h
  11. 17
      Core/Protobuf/PSource/bsp_IV.pb.h
  12. 11
      Core/Protobuf/PSource/bsp_PV.pb.h
  13. 2
      Core/Protobuf/PSource/bsp_ReCmd.pb.c
  14. 13
      Core/Protobuf/PSource/bsp_ReCmd.pb.h
  15. 1
      Core/Protobuf/Proto/bsp_GV.proto
  16. 5
      Core/Protobuf/Proto/bsp_IV.proto
  17. 3
      Core/Protobuf/Proto/bsp_PV.proto
  18. 18
      Core/Src/FSM.c
  19. 5
      Core/Src/main.c
  20. 308
      Core/Src/robot_state.c

1
.settings/language.settings.xml
View File

@ -16,7 +16,6 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1328381156250390778" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>

3
BASE/Inc/MSP/msp_U7.h
View File

@ -11,6 +11,9 @@
#include "msp_U7.pb.h"
void Sbus_Data_Count_U7(uint8_t *buf, int32_t *But_Value);
extern SP_MSP_U7_Button *P_U7;
void Robot_ResetCheck_Loop(void);
//
extern void U7_Sbus_UART_Handler_intialize(struct UARTHandler* Handler);
uint8_t IsRemoteAtInitialPosition(void);
#endif /* INC_MSP_MSP_U7_H_ */

4
BASE/Src/BSP/bsp_decode_command.c
View File

@ -269,7 +269,7 @@ void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char isMqtt,
pb_istream_t i_cv_stream =
{ 0 };
i_cv_stream = pb_istream_from_buffer(decoded_Cmd.Buff_Data,
i_cv_stream = pb_istream_from_buffer(&decoded_Cmd.Buff_Data,
decoded_Cmd.Buff_Data_Length);
pb_decode(&i_cv_stream, CV_struct_define_fields, &decoded_CV);
//将CV写入EEPROM
@ -320,7 +320,7 @@ void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, char isMqtt,
struct UARTHandler *send_Handler)
{
memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
memcpy(&send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
pb_ostream_t ReCmd_out_stream =
{ 0 };

91
BASE/Src/MSP/msp_U7.c
View File

@ -6,30 +6,66 @@
*/
#include "msp_U7.h"
#include "DLT/DLTuc.h"
#include "BHBF_ROBOT.h"
#include "fsm.h"
#include "robot_state.h"
uint8_t Reset_Flag = 0;
SP_MSP_U7_Button *P_U7;
struct UARTHandler *U7_Sbus_Controller;
void decode_U7Data(uint8_t *buffer, uint16_t length)
{
if(length!=25)
{
return;
}
if(buffer[0]==0X0f&&buffer[24]==0X00)
{
Sbus_Data_Count_U7(&buffer[1], (int32_t*) (P_U7));
}
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"U7_sbus",1);
if(length != 25)
{
return;
}
if(buffer[0] == 0x0F && buffer[24] == 0x00)
{
Sbus_Data_Count_U7(&buffer[1], (int32_t*)(P_U7));
// =================== 开机复位检测 ===================
if (Reset_Flag == 0) // 第一次收到数据
{
Reset_Flag = 1;
if(!IsRemoteAtInitialPosition()) // 如果未复位
{
system_mode = SYSTEM_RESET;
CurrentMoveState = Move_Reset;
HALT_State_Do(); // 立即停车并清空状态
}
else
{
system_mode = SYSTEM_NORMAL; // 正常运行
}
}
else
{
// =================== 后续检测 ===================
if(system_mode == SYSTEM_RESET)
{
if(IsRemoteAtInitialPosition()) // 按键已复位
{
system_mode = SYSTEM_NORMAL;
CurrentMoveState = Move_Resetted;
LOG("U7 remote reset recovered, resume NORMAL mode");
}
else
{
// 还没复位，保持 RESET
HALT_State_Do();
}
}
}
}
HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "U7_sbus", 1);
}
void Sbus_Data_Count_U7(uint8_t *buf, int32_t *But_Value)
{
@ -84,10 +120,29 @@ void Sbus_Data_Count_U7(uint8_t *buf, int32_t *But_Value)
void U7_Sbus_UART_Handler_intialize(struct UARTHandler* Handler)
{
U7_Sbus_Controller = Handler;
U7_Sbus_Controller->UART_Decode=decode_U7Data;
U7_Sbus_Controller = Handler;
U7_Sbus_Controller->UART_Decode = decode_U7Data;
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController,"U7_sbus",0,u7_sbus);
LOG("U7_Sbus_intialize");
HardWareErrorController->Add_PCOMHardWare(HardWareErrorController, "U7_sbus", 0, u7_sbus);
LOG("U7_Sbus_intialize");
}
uint8_t IsRemoteAtInitialPosition(void)
{
if(GV.U7_Key.CH0_LYB_V != 0) return 0;
if(GV.U7_Key.CH1_LYB_H != 0) return 0;
if(GV.U7_Key.LU_Single != -1000) return 0;
if(GV.U7_Key.LU_Three != 0) return 0;
if(GV.U7_Key.LU_pulley != 0) return 0;
if(GV.U7_Key.M1 != -1000) return 0;
if(GV.U7_Key.M2 != -1000) return 0;
if(GV.U7_Key.M3 != -1000) return 0;
if(GV.U7_Key.M5 != -1000) return 0;
if(GV.U7_Key.M6 != -1000) return 0;
if(GV.U7_Key.RU_Single != -1000) return 0;
if(GV.U7_Key.RU_Three != 0) return 0;
LOG("U7_At_Initial_Posotion");
return 1; // 全部归零
}

9
Core/Inc/FSM.h
View File

@ -55,10 +55,12 @@ typedef enum _MoveSTATE_t
Move_ChgFinish,
Move_Emergency,
Move_Reset,
Move_Resetted,
} MoveSTATE_t;
extern MoveSTATE_t CurrentMoveState;
//设置 换道距离和设置后退距离
typedef enum _SetSTATE_t
{
@ -93,11 +95,12 @@ typedef struct _transition_t
void (*robotRun)(void); //执行相关动作
} transition_t;
extern uint8_t Reset_Flag;
extern int32_t* RobotSpeed;
extern int32_t JontSwingSpeed;
extern int32_t JontTiltSpeed;
extern int Polish_Flag;
extern int Vacuum_Flag;
//extern int Vacuum_Flag;
extern int Spray_Flag;
void Fsm_Init();
#endif /* INC_FSM_H_ */

8
Core/Inc/robot_state.h
View File

@ -25,6 +25,7 @@ typedef struct ChgRoad_Parameters
int32_t change_road_distance; //换道时的距离（执行换道前进程序的次数，可以理解为执行次数越多，机器人走的越远）
int32_t change_road_status_flag; //换道标志位
int32_t change_road_finish_flag;
int32_t change_road_direction;
double speed;
/**转弯*/
@ -54,6 +55,13 @@ typedef struct
}AutoMove_Parameters;
typedef enum {
SYSTEM_RESET,
SYSTEM_NORMAL
} SystemMode_t;
extern SystemMode_t system_mode;
extern ChgRoad_Parameters Chg_Pa;
extern int* AuTo_Flag;

2
Core/Protobuf/PSource/bsp_Cmd.pb.c
View File

@ -6,7 +6,7 @@
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(Cmd, Cmd, 2)
PB_BIND(Cmd, Cmd, AUTO)

13
Core/Protobuf/PSource/bsp_Cmd.pb.h
View File

@ -29,7 +29,7 @@ Buff_Data_Length 是下发的字节数， */
int32_t Parameter3;
int32_t Parameter4;
int32_t Buff_Data_Length;
pb_byte_t Buff_Data[512];
pb_callback_t Buff_Data;
} Cmd;
@ -38,8 +38,8 @@ extern "C" {
#endif
/* Initializer values for message structs */
#define Cmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}}
#define Cmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}}
#define Cmd_init_default {0, 0, 0, 0, 0, 0, 0, {{NULL}, NULL}}
#define Cmd_init_zero {0, 0, 0, 0, 0, 0, 0, {{NULL}, NULL}}
/* Field tags (for use in manual encoding/decoding) */
#define Cmd_CommadNum_tag 1
@ -60,8 +60,8 @@ X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8)
#define Cmd_CALLBACK NULL
X(a, CALLBACK, SINGULAR, BYTES, Buff_Data, 8)
#define Cmd_CALLBACK pb_default_field_callback
#define Cmd_DEFAULT NULL
extern const pb_msgdesc_t Cmd_msg;
@ -70,8 +70,7 @@ extern const pb_msgdesc_t Cmd_msg;
#define Cmd_fields &Cmd_msg
/* Maximum encoded size of messages (where known) */
#define BSP_CMD_PB_H_MAX_SIZE Cmd_size
#define Cmd_size 592
/* Cmd_size depends on runtime parameters */
#ifdef __cplusplus
} /* extern "C" */

12
Core/Protobuf/PSource/bsp_Error.pb.h
View File

@ -12,7 +12,7 @@
/* Struct definitions */
typedef struct _ErrorDataInfo {
int32_t Error_Value;
pb_byte_t Error_Name[50];
pb_callback_t Error_Name;
} ErrorDataInfo;
typedef struct _ErrorData {
@ -52,9 +52,9 @@ extern "C" {
#endif
/* Initializer values for message structs */
#define ErrorDataInfo_init_default {0, {0}}
#define ErrorDataInfo_init_default {0, {{NULL}, NULL}}
#define ErrorData_init_default {0, 0, 0, 0, 0, 0, 0, 0}
#define ErrorDataInfo_init_zero {0, {0}}
#define ErrorDataInfo_init_zero {0, {{NULL}, NULL}}
#define ErrorData_init_zero {0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
@ -72,8 +72,8 @@ extern "C" {
/* Struct field encoding specification for nanopb */
#define ErrorDataInfo_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Error_Value, 1) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Error_Name, 4)
#define ErrorDataInfo_CALLBACK NULL
X(a, CALLBACK, SINGULAR, BYTES, Error_Name, 4)
#define ErrorDataInfo_CALLBACK pb_default_field_callback
#define ErrorDataInfo_DEFAULT NULL
#define ErrorData_FIELDLIST(X, a) \
@ -96,8 +96,8 @@ extern const pb_msgdesc_t ErrorData_msg;
#define ErrorData_fields &ErrorData_msg
/* Maximum encoded size of messages (where known) */
/* ErrorDataInfo_size depends on runtime parameters */
#define BSP_ERROR_PB_H_MAX_SIZE ErrorData_size
#define ErrorDataInfo_size 63
#define ErrorData_size 95
#ifdef __cplusplus

2
Core/Protobuf/PSource/bsp_GV.pb.h
View File

@ -107,7 +107,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define BSP_GV_PB_H_MAX_SIZE GV_struct_define_size
#define GV_struct_define_size 884
#define GV_struct_define_size 895
#ifdef __cplusplus
} /* extern "C" */

17
Core/Protobuf/PSource/bsp_IV.pb.h
View File

@ -26,6 +26,9 @@ typedef struct _IV_struct_define {
int32_t Robot_Error_Right;
int32_t Robot_Compensation_Left;
int32_t Robot_Compensation_Right;
int32_t Robot_RESET;
int32_t Robot_LaneChange_Left;
int32_t Robot_LaneChange_Right;
} IV_struct_define;
@ -34,8 +37,8 @@ extern "C" {
#endif
/* Initializer values for message structs */
#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define IV_struct_define_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
#define IV_struct_define_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define IV_struct_define_Robot_Move_AutoSpeed_tag 1
@ -52,6 +55,9 @@ extern "C" {
#define IV_struct_define_Robot_Error_Right_tag 12
#define IV_struct_define_Robot_Compensation_Left_tag 13
#define IV_struct_define_Robot_Compensation_Right_tag 14
#define IV_struct_define_Robot_RESET_tag 15
#define IV_struct_define_Robot_LaneChange_Left_tag 16
#define IV_struct_define_Robot_LaneChange_Right_tag 17
/* Struct field encoding specification for nanopb */
#define IV_struct_define_FIELDLIST(X, a) \
@ -68,7 +74,10 @@ X(a, STATIC, SINGULAR, INT32, Robot_Current_Right, 10) \
X(a, STATIC, SINGULAR, INT32, Robot_Error_Left, 11) \
X(a, STATIC, SINGULAR, INT32, Robot_Error_Right, 12) \
X(a, STATIC, SINGULAR, INT32, Robot_Compensation_Left, 13) \
X(a, STATIC, SINGULAR, INT32, Robot_Compensation_Right, 14)
X(a, STATIC, SINGULAR, INT32, Robot_Compensation_Right, 14) \
X(a, STATIC, SINGULAR, INT32, Robot_RESET, 15) \
X(a, STATIC, SINGULAR, INT32, Robot_LaneChange_Left, 16) \
X(a, STATIC, SINGULAR, INT32, Robot_LaneChange_Right, 17)
#define IV_struct_define_CALLBACK NULL
#define IV_struct_define_DEFAULT NULL
@ -79,7 +88,7 @@ extern const pb_msgdesc_t IV_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define BSP_IV_PB_H_MAX_SIZE IV_struct_define_size
#define IV_struct_define_size 154
#define IV_struct_define_size 189
#ifdef __cplusplus
} /* extern "C" */

11
Core/Protobuf/PSource/bsp_PV.pb.h
View File

@ -14,6 +14,7 @@ typedef struct _PV_struct_define {
int32_t Robot_ChgLength;
double Robot_AutoSpeedBase;
double Robot_ManualSpeedBase;
int32_t Robot_LaneChange_Direction;
} PV_struct_define;
@ -22,19 +23,21 @@ extern "C" {
#endif
/* Initializer values for message structs */
#define PV_struct_define_init_default {0, 0, 0}
#define PV_struct_define_init_zero {0, 0, 0}
#define PV_struct_define_init_default {0, 0, 0, 0}
#define PV_struct_define_init_zero {0, 0, 0, 0}
/* Field tags (for use in manual encoding/decoding) */
#define PV_struct_define_Robot_ChgLength_tag 1
#define PV_struct_define_Robot_AutoSpeedBase_tag 2
#define PV_struct_define_Robot_ManualSpeedBase_tag 3
#define PV_struct_define_Robot_LaneChange_Direction_tag 4
/* Struct field encoding specification for nanopb */
#define PV_struct_define_FIELDLIST(X, a) \
X(a, STATIC, SINGULAR, INT32, Robot_ChgLength, 1) \
X(a, STATIC, SINGULAR, DOUBLE, Robot_AutoSpeedBase, 2) \
X(a, STATIC, SINGULAR, DOUBLE, Robot_ManualSpeedBase, 3)
X(a, STATIC, SINGULAR, DOUBLE, Robot_ManualSpeedBase, 3) \
X(a, STATIC, SINGULAR, INT32, Robot_LaneChange_Direction, 4)
#define PV_struct_define_CALLBACK NULL
#define PV_struct_define_DEFAULT NULL
@ -45,7 +48,7 @@ extern const pb_msgdesc_t PV_struct_define_msg;
/* Maximum encoded size of messages (where known) */
#define BSP_PV_PB_H_MAX_SIZE PV_struct_define_size
#define PV_struct_define_size 29
#define PV_struct_define_size 40
#ifdef __cplusplus
} /* extern "C" */

2
Core/Protobuf/PSource/bsp_ReCmd.pb.c
View File

@ -6,7 +6,7 @@
#error Regenerate this file with the current version of nanopb generator.
#endif
PB_BIND(ReCmd, ReCmd, 2)
PB_BIND(ReCmd, ReCmd, AUTO)

13
Core/Protobuf/PSource/bsp_ReCmd.pb.h
View File

@ -29,7 +29,7 @@ Buff_Data_Length 是下发的字节数， */
int32_t Parameter3;
int32_t Parameter4;
int32_t Buff_Data_Length;
pb_byte_t Buff_Data[500];
pb_callback_t Buff_Data;
} ReCmd;
@ -38,8 +38,8 @@ extern "C" {
#endif
/* Initializer values for message structs */
#define ReCmd_init_default {0, 0, 0, 0, 0, 0, 0, {0}}
#define ReCmd_init_zero {0, 0, 0, 0, 0, 0, 0, {0}}
#define ReCmd_init_default {0, 0, 0, 0, 0, 0, 0, {{NULL}, NULL}}
#define ReCmd_init_zero {0, 0, 0, 0, 0, 0, 0, {{NULL}, NULL}}
/* Field tags (for use in manual encoding/decoding) */
#define ReCmd_CommadNum_tag 1
@ -60,8 +60,8 @@ X(a, STATIC, SINGULAR, INT32, Parameter2, 4) \
X(a, STATIC, SINGULAR, INT32, Parameter3, 5) \
X(a, STATIC, SINGULAR, INT32, Parameter4, 6) \
X(a, STATIC, SINGULAR, INT32, Buff_Data_Length, 7) \
X(a, STATIC, SINGULAR, FIXED_LENGTH_BYTES, Buff_Data, 8)
#define ReCmd_CALLBACK NULL
X(a, CALLBACK, SINGULAR, BYTES, Buff_Data, 8)
#define ReCmd_CALLBACK pb_default_field_callback
#define ReCmd_DEFAULT NULL
extern const pb_msgdesc_t ReCmd_msg;
@ -70,8 +70,7 @@ extern const pb_msgdesc_t ReCmd_msg;
#define ReCmd_fields &ReCmd_msg
/* Maximum encoded size of messages (where known) */
#define BSP_RECMD_PB_H_MAX_SIZE ReCmd_size
#define ReCmd_size 580
/* ReCmd_size depends on runtime parameters */
#ifdef __cplusplus
} /* extern "C" */

1
Core/Protobuf/Proto/bsp_GV.proto
View File

@ -31,7 +31,6 @@ message GV_struct_define
int32 Robot_ChgLength =18;
int32 Robot_ForceValue = 19;
int32 Robot_DynamometerValue = 20;
int32 Emergency = 21;
};

5
Core/Protobuf/Proto/bsp_IV.proto
View File

@ -13,12 +13,9 @@ message IV_struct_define{
int32 Robot_CurrentState= 8;
int32 Robot_Current_Left= 9;
int32 Robot_Current_Right= 10;
int32 Robot_Error_Left= 11;
int32 Robot_Error_Right= 12;
int32 Robot_Compensation_Left= 13;
int32 Robot_Compensation_Right= 14;
int32 Robot_RESET = 15;
};

3
Core/Protobuf/Proto/bsp_PV.proto
View File

@ -2,8 +2,7 @@ syntax = "proto3";
message PV_struct_define{
int32 Robot_ChgLength= 1;
double Robot_AutoSpeedBase=2;
double Robot_ManualSpeedBase=3;
int32 Robot_LaneChange_Direction = 4;
};

18
Core/Src/FSM.c
View File

@ -1,16 +1,15 @@
/*
* fsm.c
*
*状态机：通过遥控器的指令，判断机器人的运动状态。
* Created on: Oct 18, 2024
* Author: akeguo
*/
#include "fsm.h"
#include "BHBF_ROBOT.h"
#include "bsp_include.h"
#include "robot_state.h"
int32_t *RobotSpeed;
//int32_t JontSwingSpeed;
//int32_t JontTiltSpeed;
@ -265,13 +264,15 @@ void Front_End()
}
}
//LU_Three控制打磨推杆升降
//LU_Three控制打磨推杆升降:下压时，设置安全阈值，确保按压到一定值时，不再继续下压。
// GV.Robot_ForceValue即APP显示的压力值，设置10，是考虑到按压到一定程度后，开启打磨盘的压力余量
if(P_U7->LU_Three==1000)
{
GF_BSP_GPIO_SetIO(Out_Lift_2,0);
GF_BSP_GPIO_SetIO(Out_Lift_1,1);
}
else if(P_U7->LU_Three==-1000)
else if(P_U7->LU_Three==-1000 && GV.Robot_ForceValue < 10)
{
GF_BSP_GPIO_SetIO(Out_Lift_2,1);
GF_BSP_GPIO_SetIO(Out_Lift_1,0);
@ -328,6 +329,7 @@ void Emergency()
{
GV.Emergency = 1;
Operation_lock = 1; // 急停时自动锁定
Reset_Flag = 0;
}
// 2急停锁定计时（仅在急停状态下计数，解决松手不同时问题）
@ -362,6 +364,7 @@ void Emergency()
if (P_U7->LU_Three == 0)
{
Operation_lock = 0; // 满足条件，解锁
Reset_Flag = 0;
}
GF_BSP_GPIO_SetIO(0,0);
}
@ -386,6 +389,11 @@ void Emergency()
void GF_Dispatch()//2ms调用一次 给车体速度等赋值
{
// 如果处于复位模式，直接停车，不再执行运动逻辑
if (system_mode == SYSTEM_RESET) {
HALT_State_Do();
return;
}
// //运动部分 Move Region
//左补偿、右补偿
Lcompensation_control();

5
Core/Src/main.c
View File

@ -103,7 +103,7 @@ int main(void)
/* USER CODE END 1 */
/* MPU Configuration--------------------------------------------------------*/
MPU_Config();
MPU_Config();
/* Enable I-Cache---------------------------------------------------------*/
SCB_EnableICache();
@ -253,12 +253,10 @@ void CV_GV_Init()
CV.TiltMoveSpeedBase = 1000;
Motor[1] = &GV.LeftFrontMotor; //Motor[1]指向GV的电机参�???????????
Motor[2] = &GV.RightFrontMotor;
RobotSpeed=&GV.Move_Speed;//RobotSpeed指向GV的移动车体�?�度 这是整体车�?? 不是单个轮的
AuTo_Flag=&GV.AuTo_Flag;
@ -280,7 +278,6 @@ void CV_GV_Init()
Motor_ID_Errors[1] = &GV.SystemErrorData.Motor_1_Error;
Motor_ID_Errors[2] = &GV.SystemErrorData.Motor_2_Error;
}
void GF_Robot_Init()

308
Core/Src/robot_state.c
View File

@ -1,10 +1,11 @@
/*
* robot_state.c
* robot_state.c 手动及自动控制 换道 PID
*
* Created on: Aug 2, 2024
* Author: akeguo
*/
#include "robot_state.h"
#include "FSM.h"
#include "bsp_GPIO.h"
#include <stdio.h>
#include <math.h>
@ -12,7 +13,7 @@
int Swing_Count=0;
int Home_Flag=0;
SystemMode_t system_mode = SYSTEM_NORMAL; // 默认开机是正常模式
ChgRoad_Parameters Chg_Pa =
{
@ -166,8 +167,9 @@ void HALT_State_Do(void)
Chg_Pa.change_road_status_flag = 0;
GV.Chg_Flag = 0;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
// Polish_Flag = 0;
// Spray_Flag = 0;
}
@ -302,7 +304,6 @@ void VehicleAutoForward(double InclinometerAngle, double offsetAngle_left, dou
GV.RightFrontMotor.Target_Velcity=GV.RightFrontMotor.Target_Velcity+AM_Pa.KP1 * deltaSpeed;
// if (deltaAngle >= 0 && deltaAngle <= AM_Pa.deltaAngle1)
// {
// Motor[0].Target_Velcity = Motor[0].Target_Velcity + AM_Pa.KP1 * deltaSpeed;
@ -337,7 +338,6 @@ void VehicleAutoBackward(double InclinometerAngle, double offsetAngle_left, dou
}
GV.LeftFrontMotor.Target_Velcity = -GV.Robot_AutoSpeed;
GV.RightFrontMotor.Target_Velcity = GV.Robot_AutoSpeed;
//
GV.LeftFrontMotor.Target_Velcity=GV.LeftFrontMotor.Target_Velcity+AM_Pa.KP1 * deltaSpeed;
GV.RightFrontMotor.Target_Velcity=GV.RightFrontMotor.Target_Velcity+AM_Pa.KP1 * deltaSpeed;
@ -383,144 +383,191 @@ void VehicleAutoTurn(double InclinometerAngle, double expectationAngle, double K
}
void ChgUp()
{
//上换道
double angle;
angle = GV.Robot_Angle.RF_Angle_Roll / 100.0;
if(Chg_Pa.change_road_finish_flag==0)
{
switch(Chg_Pa.change_road_status_flag)
{
case 0:
if(angle >= -45
&& (angle <= 45))
{
Chg_Pa.change_road_status_flag=1;
GV.Chg_Flag = 0;
Chg_Pa.ChgWidth = GV.PV.Robot_ChgLength-10;
WheelMotorSpeedInit();
}
break;
case 1:
VehicleAutoTurn((angle), 90, Chg_Pa.KPCR1, Chg_Pa.KDCR1); //没到-90左转
continueTurn_up(90, (angle));
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag=2;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
Chg_Pa.isTurn=false;//换完置位
// 上换道
double angle = GV.Robot_Angle.RF_Angle_Roll / 100.0;
if (Chg_Pa.change_road_finish_flag == 0)
{
switch (Chg_Pa.change_road_status_flag)
{
case 0: // 初始化换道
if (angle >= -45 && angle <= 45)
{
Chg_Pa.change_road_status_flag = 1;
GV.Chg_Flag = 0;
Chg_Pa.ChgWidth = GV.PV.Robot_ChgLength - 10; // 使用 PV 配置的换道距离
WheelMotorSpeedInit();
}
break;
case 1: // 上转
VehicleAutoTurn(angle, 90, Chg_Pa.KPCR1, Chg_Pa.KDCR1); // 转到90°前
continueTurn_up(90, angle);
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag = 2;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
Chg_Pa.isTurn = false; // 转完置位
// 记录电机换道位置，根据左右换道标志调整
if (GV.PV.Robot_LaneChange_Direction == 0) // 左换道
{
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_R = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
else if (GV.PV.Robot_LaneChange_Direction == 1) // 右换道
{
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_R = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
}
break;
case 2: // 水平后退
if (GV.PV.Robot_LaneChange_Direction == 0) // 左换道
{
GV.LeftFrontMotor.Target_Velcity = -WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity = WheelMotorSpeedGet(Chg_Pa.speed);
}
else if (GV.PV.Robot_LaneChange_Direction == 1) // 右换道
{
GV.LeftFrontMotor.Target_Velcity = WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity = -WheelMotorSpeedGet(Chg_Pa.speed);
}
//记录电机换道位置
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_L = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
break;
case 2: //到了90°之后就开始水平后退
GV.LeftFrontMotor.Target_Velcity= -WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity= WheelMotorSpeedGet(Chg_Pa.speed);
int m = Chg_Pa.Final_Postition_L - GV.LeftFrontMotor.Position;
int n = Chg_Pa.Final_Postition_R - GV.RightFrontMotor.Position;
if (m > 0 && n < 0)
if ((GV.PV.Robot_LaneChange_Direction == 0 && m > 0 && n < 0) ||
(GV.PV.Robot_LaneChange_Direction == 1 && m < 0 && n > 0))
{
Chg_Pa.change_road_status_flag=3;
Chg_Pa.change_road_straight_count=0;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
}
break;
case 3:
VehicleAutoTurn((angle),0,Chg_Pa.KPCR1,Chg_Pa.KDCR1); //转回来，没到0右转
continueTurn_up(0, (angle));
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag=0;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
Chg_Pa.change_road_finish_flag=1;
GV.Chg_Flag = 1;
Chg_Pa.isTurn=false;
}
break;
default:
break;
}
}
Chg_Pa.change_road_status_flag = 3;
Chg_Pa.change_road_straight_count = 0;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
}
break;
case 3: // 转回来
VehicleAutoTurn(angle, 0, Chg_Pa.KPCR1, Chg_Pa.KDCR1); // 转回0°前
continueTurn_up(0, angle);
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag = 0;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
Chg_Pa.change_road_finish_flag = 1;
GV.Chg_Flag = 1;
Chg_Pa.isTurn = false;
}
break;
default:
break;
}
}
}
void ChgDown()
{
//上换道
double angle;
angle = GV.Robot_Angle.RF_Angle_Roll / 100.0;
if(Chg_Pa.change_road_finish_flag==0)
{
switch(Chg_Pa.change_road_status_flag)
{
case 0:
if(angle >= -45
&& (angle <= 45))
{
Chg_Pa.change_road_status_flag=1;
GV.Chg_Flag = 0;
Chg_Pa.ChgWidth = GV.PV.Robot_ChgLength-10;
WheelMotorSpeedInit();
}
break;
case 1:
VehicleAutoTurn((angle), -90, Chg_Pa.KPCR1, Chg_Pa.KDCR1); //没到-90左转
continueTurn_up(-90, (angle));
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag=2;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
Chg_Pa.isTurn=false;//换完置位
// 下换道
double angle = GV.Robot_Angle.RF_Angle_Roll / 100.0;
if (Chg_Pa.change_road_finish_flag == 0)
{
switch (Chg_Pa.change_road_status_flag)
{
case 0: // 初始化换道
if (angle >= -45 && angle <= 45)
{
Chg_Pa.change_road_status_flag = 1;
GV.Chg_Flag = 0;
Chg_Pa.ChgWidth = GV.PV.Robot_ChgLength - 10; // 使用 PV 配置的换道距离
WheelMotorSpeedInit();
}
break;
case 1: // 下转
VehicleAutoTurn(angle, -90, Chg_Pa.KPCR1, Chg_Pa.KDCR1); // 转到-90°前
continueTurn_up(-90, angle);
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag = 2;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
Chg_Pa.isTurn = false; // 转完置位
// 记录电机换道位置，根据左右换道标志调整
if (GV.PV.Robot_LaneChange_Direction == 0) // 左换道
{
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_R = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
else if (GV.PV.Robot_LaneChange_Direction == 1) // 右换道
{
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_R = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
}
break;
case 2: // 水平后退
if (GV.PV.Robot_LaneChange_Direction == 0) // 左换道
{
GV.LeftFrontMotor.Target_Velcity = -WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity = WheelMotorSpeedGet(Chg_Pa.speed);
}
else if (GV.PV.Robot_LaneChange_Direction == 1) // 右换道
{
GV.LeftFrontMotor.Target_Velcity = WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity = -WheelMotorSpeedGet(Chg_Pa.speed);
}
//记录电机换道位置
Chg_Pa.Ini_Postition_L = GV.LeftFrontMotor.Position;
Chg_Pa.Final_Postition_L = GV.LeftFrontMotor.Position + WheelMotorPositionGet(Chg_Pa.ChgWidth);
Chg_Pa.Ini_Postition_L = GV.RightFrontMotor.Position;
Chg_Pa.Final_Postition_R = GV.RightFrontMotor.Position - WheelMotorPositionGet(Chg_Pa.ChgWidth);
}
break;
case 2: //到了-90°之后就开始水平前进
GV.LeftFrontMotor.Target_Velcity= WheelMotorSpeedGet(Chg_Pa.speed);
GV.RightFrontMotor.Target_Velcity= -WheelMotorSpeedGet(Chg_Pa.speed);
int m = Chg_Pa.Final_Postition_L - GV.LeftFrontMotor.Position;
int n = Chg_Pa.Final_Postition_R - GV.RightFrontMotor.Position;
if (m < 0 && n > 0)
if ((GV.PV.Robot_LaneChange_Direction == 0 && m > 0 && n < 0) ||
(GV.PV.Robot_LaneChange_Direction == 1 && m < 0 && n > 0))
{
Chg_Pa.change_road_status_flag=3;
Chg_Pa.change_road_straight_count=0;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
}
break;
case 3:
VehicleAutoTurn((angle),0,Chg_Pa.KPCR1,Chg_Pa.KDCR1); //转回来，没到0右转
continueTurn_up(0, (angle));
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag=0;
GV.LeftFrontMotor.Target_Velcity=0;
GV.RightFrontMotor.Target_Velcity=0;
Chg_Pa.change_road_finish_flag=1;
GV.Chg_Flag = 1;
Chg_Pa.isTurn=false;
}
break;
default:
break;
}
}
Chg_Pa.change_road_status_flag = 3;
Chg_Pa.change_road_straight_count = 0;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
}
break;
case 3: // 转回来
VehicleAutoTurn(angle, 0, Chg_Pa.KPCR1, Chg_Pa.KDCR1); // 转回0°前
continueTurn_up(0, angle);
if (Chg_Pa.isTurn)
{
Chg_Pa.change_road_status_flag = 0;
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
Chg_Pa.change_road_finish_flag = 1;
GV.Chg_Flag = 1;
Chg_Pa.isTurn = false;
}
break;
default:
break;
}
}
}
@ -595,6 +642,7 @@ void ChgLeft()
}
void ChgRight()
{
//上换道
@ -665,10 +713,10 @@ void ChgRight()
}
}
void ChgFinish()
{
GV.LeftFrontMotor.Target_Velcity = 0;
GV.RightFrontMotor.Target_Velcity = 0;
}

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