ELCT/Simba-OmniInfantry
9
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: ELCT/Simba-OmniInfantry:cf736569fb5104a2de339d5bfb591b6818b7264b
Branches Tags
ELCT/Simba-OmniInfantry:main
..
compare: ELCT/Simba-OmniInfantry:59d1169895aae94a29fa31f663110b14dd9124ce
Branches Tags
ELCT/Simba-OmniInfantry:main
2 Commits
cf736569fb .. 59d1169895
Author SHA1 Message Date
lyf 59d1169895 音乐未成 2026-09-12 19:43:21 +08:00
lyf 79a545b379 修复上电云台正方向问题，以及初步调好了底盘跟随PID，以及小陀螺模式下的运动偏移问题。 2026-09-12 19:05:26 +08:00
14 changed files with 352 additions and 71 deletions
Expand all files Collapse all files
.vscode/settings.json
Vendored
+3
View File
@@ -0,0 +1,3 @@
{
"python.analysis.stubPath": "C:\\Users\\16936\\.kendryte\\k230_canmv_pylance\\4702c5814722ec2f\\typings"
}
README.md
+5
View File
@@ -344,6 +344,9 @@ gx=0.0012 gy=-0.0031 gz=0.0165 zo=0.0009 ck=1 ca=803 cg=1002 se=0 st=1
> 每一条都是实际踩过的坑。更详细的排障过程见 [doc/已知问题与排障.md](./doc/已知问题与排障.md)。
### 11.0 已知底盘1号电机，云台pitch电机会掉线，记得检修
### 11.1 增删源文件必须同步改 `.uvprojx`(和 `.uvoptx`)
新增/删除 `.c` 后必须同时在 Keil 工程里增删条目,并检查:
@@ -431,3 +434,5 @@ BMI088 的 DRDY 是**电平型**信号:某次失败或被挡掉的读取没把
## 参考
- 踩坑记录与排障手册:[`doc/已知问题与排障.md`](./doc/已知问题与排障.md)
云台/Application/Task/Src/debug_task.c
+5 -2
View File
@@ -35,6 +35,7 @@
#include "attitude.h"
#include "ins.h"
#include "bmi088.h"
#include "gimbal.h"
#include <stdio.h>
#include <math.h>
@@ -72,12 +73,14 @@ void debug_task(void const * argument)
#if DEBUG_ATT_HEALTH
int len = snprintf(line, sizeof(line),
"yaw=%.2f pitch=%.2f roll=%.2f cvg=%u rdy=%u imu=%u an=%.2f gn=%.3f%s\r\n",
"ecd=%u yaw=%.2f pitch=%.2f roll=%.2f cvg=%u rdy=%u imu=%u an=%.2f gn=%.3f%s\r\n",
(unsigned)motor_yaw_gimbal.fdb.raw_angle,
att_deg_yaw, att_deg_pitch, att_deg_roll,
(unsigned)INS.ConvergeFlag, (unsigned)att_ready,
(unsigned)bmi088_online, an, gn, tail);
#else
int len = snprintf(line, sizeof(line), "yaw=%.2f pitch=%.2f roll=%.2f\r\n",
int len = snprintf(line, sizeof(line), "ecd=%u yaw=%.2f pitch=%.2f roll=%.2f\r\n",
(unsigned)motor_yaw_gimbal.fdb.raw_angle,
att_deg_yaw, att_deg_pitch, att_deg_roll);
#endif
云台/Application/Task/Src/gimbal_task.c
+2 -2
View File
@@ -1,5 +1,5 @@
/* =============================================================================
* gimbal_task.c - 云台控制任务(2ms)
* gimbal_task.c - 云台控制任务(2ms/500Hz)
* 状态机:
* YAW_WAIT 等待"姿态就绪+云台电机在线"(遥控可后到)
* YAW_RUN 正常串级控制(符号用参数回退值,直至手势自检完成)
@@ -26,7 +26,7 @@
#define CALIB_GESTURE_L_RL 400 // < 400 即最左
#define CALIB_GESTURE_R_RL 1600 // > 1600 即最右
#define CALIB_GESTURE_MS 500 // 保持时长
#define CALIB_GESTURE_TICKS (CALIB_GESTURE_MS / 2) // 2ms 任务
#define CALIB_GESTURE_TICKS (CALIB_GESTURE_MS / 2) // 2ms 任务(500Hz)
typedef enum
{
云台/Application/robot_param.h
+11 -8
View File
@@ -12,6 +12,8 @@
#define PITCH_GM6020_POSITION_LOWER_LIMIT 3990 // Pitch 轴编码器值下限(云台抬起方向)
#define PITCH_GM6020_POSITION_UPPER_LIMIT 2220 // Pitch 轴编码器值上限(云台压低方向)
#define PITCH_GM6020_ENCODER_ZERO 3245 // Pitch 轴编码器零位
#define YAW_GM6020_ENCODER_ZERO 4440 // Yaw 轴编码器零位(机械正前方,0~8191)
#define CHASSIS_SPIN_FEEDFORWARD_K 0.008f // 小陀螺解算时延前馈补偿系数(s)
#define GIMBAL_FRICTION_WHEEL_SPEED 5500.0f // 摩擦轮转速(RPM)
#define GIMBAL_RAMMER_SPEED -5400.0f// 拨弹盘转速(RPM,负向发射)
@@ -31,16 +33,17 @@
* (GIMBAL_YAW_DETECT 见下),无需人工猜;
* - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电压。
* 调参顺序:先速度环(点动不振荡),再位置环(刚性)——见移植 README §8.1 */
#define GIMBAL_YAW_ANGLE_KP 15.0f // ° -> °/s:10° 误差给 150°/s
#define GIMBAL_YAW_ANGLE_KP 20.0f // ° -> °/s:10° 误差给 150°/s
#define GIMBAL_YAW_ANGLE_KI 0.0f
#define GIMBAL_YAW_ANGLE_KD 0.0f // 速度环本身即微分,不再叠加
#define GIMBAL_YAW_ANGLE_EK_DEADBAND 0.05f // 误差死区(°),QEKF 噪声小可用窄死区
#define GIMBAL_YAW_ANGLE_OUT_LIMIT 360.0f // 目标角速度上限(°/s)
#define GIMBAL_YAW_SPEED_KP 60.0f // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
#define GIMBAL_YAW_SPEED_KP 85.0f // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
#define GIMBAL_YAW_SPEED_KI 0.0f // 稳定后可回填 0.5~2 消速度稳态差
#define GIMBAL_YAW_SPEED_KD 0.0f // 陀螺速率反馈噪声小,先不用 D
#define GIMBAL_YAW_SPEED_OUT_LIMIT 25000.0f// GM6020 电压限幅
#define GIMBAL_YAW_SPIN_FEEDFORWARD_K 24.0f // 小陀螺底盘自旋解耦前馈系数(RPM->电压,通常15~35)
/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电压脉冲,
* 看陀螺 z 轴往哪边转——脉冲引起同向转动则符号 +1,反向则 -1。
@@ -91,10 +94,10 @@
* err = wrap180(云台yaw - 底盘yaw)
* 不再依赖底盘侧 GM6020(0x205) 反馈,皮带虚位不在环内,无基准锁定时序坑。
* 两板 INS 各自上电零点任意,但差值只随相对转动变化,天然正确 */
#define CHASSIS_FOLLOW_KP 0.4f // w 量纲/°:10° 偏差给 w=4
#define CHASSIS_FOLLOW_KP 0.4678f // w 量纲/°:10° 偏差给 w=4
#define CHASSIS_FOLLOW_KI 0.0f // 调试期 0,同旧教训(积分残留)
#define CHASSIS_FOLLOW_KD 0.0f
#define CHASSIS_FOLLOW_OUT_LIMIT 4.0f // 输出限幅(介于慢/快陀螺之间)
#define CHASSIS_FOLLOW_KD 24.452f
#define CHASSIS_FOLLOW_OUT_LIMIT 5.5f // 输出限幅(介于慢/快陀螺之间)
#define CHASSIS_FOLLOW_DEADBAND 1.0f // 误差死区(°)
/* 跟随符号全自动综合:云台自检(0x1A9 flags)下发编码器 tick 增向,
@@ -125,10 +128,10 @@
#define DEBUG_SHOOT_WITHOUT_REFEREE 1 // 1=无裁判系统时也允许开摩擦轮(台架调试用),比赛请改 0
#define GIMBAL_RAMMER_INSTALLED 0 // 1=拨弹 M2006 已安装;0=暂缺,不参与掉线判定
/* 1=调试模式:把 CAN 掉线警告音替换成循环播放的旋律(台架调试时避免连续滴滴声
* 干扰)。红灯常亮与其它灯语完全不变,仍能看出是哪台设备掉线;比赛请改 0。
* 旋律音符表见 modules/BUZZER/buzzer.c 的 buzzer_melody[] */
/* 1=把 CAN 掉线警告音替换成循环播放的旋律《你》(RM动画片尾曲),报警时播放;
* 旋律音符表见 modules/dev/buzzer.c 的 buzzer_melody[] */
#define DEBUG_BUZZER_MELODY 1
#define BUZZER_MELODY_SPEED_DIV 1 // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍)
/* ============================ 掉线检测 ============================ */
#define DEVICE_OFFLINE_TIME_MS 100 // CAN 设备/裁判系统掉线判定时间
云台/MDK-ARM/Simba-ELCT-FrameWork.uvoptx
+3 -3
View File
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>2</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -140,7 +140,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>CMSIS_AGDI</Key>
<Name>-X"" -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
<Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -1040,7 +1040,7 @@
<Group>
<GroupName>Application/Task</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
云台/modules/control/gimbal.c
+28 -8
View File
@@ -16,6 +16,8 @@
#include "can.h"
#include "robot_param.h"
#include "filter.h"
#include "robot_typedef.h"
#include "dr16.h"
#ifndef RAD_TO_ANGLE
#define RAD_TO_ANGLE 57.295779513082320876798154814105f
@@ -133,25 +135,32 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
const float yaw_meas = sign * att_deg_yaw; // °
const float yaw_rate_meas = sign * (bmi088_gyro[2] * RAD_TO_ANGLE); // °/s
/* 首次进入控制:目标角同步为当前姿态(否则 Yaw 目标仍为初始 0°,
* 一闭环就会朝 0° 猛转) */
/* 首次进入控制或复位:将目标角设定为设定的编码器零位朝向(类似 Pitch 上电归位) */
static uint8_t first_run = 1;
if (first_run)
if (first_run || reset_flag)
{
first_run = 0;
yaw_target_deg = yaw_meas;
/* 计算当前编码器距离设定零位的最短差值(-4096 ~ +4096) */
int16_t ecd_diff = (int16_t)motor_yaw_gimbal.fdb.raw_angle - (int16_t)YAW_GM6020_ENCODER_ZERO;
if (ecd_diff > 4096)
ecd_diff -= 8192;
else if (ecd_diff < -4096)
ecd_diff += 8192;
/* 将编码器 tick 差折算为机械角度偏差(°)，补偿给世界系目标角 */
const float ecd_err_deg = (float)ecd_diff * (360.0f / 8192.0f);
yaw_target_deg = yaw_meas - ecd_err_deg;
pitch_target_deg = 0;
}
if (reset_flag)
{
yaw_target_deg = yaw_meas; // Yaw 复位为当前角度
pitch_target_deg = 0; // Pitch 复位为上电位置
PID_PositionClean(&yaw_angle_pid);
PID_PositionClean(&yaw_speed_pid);
PID_PositionClean(&pitch_angle_pid);
PID_PositionClean(&pitch_speed_pid);
}
}
yaw_target_deg += yaw_delta;
pitch_target_deg += pitch_delta;
@@ -163,7 +172,18 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
/* Yaw 速度环:°/s -> 电压(反馈为带符号陀螺角速度,双环符号自洽) */
yaw_speed_pid.Need_Value = yaw_angle_pid.OUT;
PID_PositionCalc(&yaw_speed_pid, yaw_rate_meas);
yaw_voltage = yaw_speed_pid.OUT;
/* 小陀螺底盘自旋解耦前馈:根据底盘相对转速补偿动摩擦与反电动势拖拽，消除同向/反向手感不对称 */
float spin_feedforward = 0.0f;
if (cmd_robot.spin_flag || dr16.s2 == 1 || dr16.s2 == 2)
{
spin_feedforward = GIMBAL_YAW_SPIN_FEEDFORWARD_K * (float)motor_yaw_gimbal.fdb.rotor_speed;
}
yaw_voltage = yaw_speed_pid.OUT + spin_feedforward;
if (yaw_voltage > GIMBAL_YAW_SPEED_OUT_LIMIT)
yaw_voltage = GIMBAL_YAW_SPEED_OUT_LIMIT;
else if (yaw_voltage < -GIMBAL_YAW_SPEED_OUT_LIMIT)
yaw_voltage = -GIMBAL_YAW_SPEED_OUT_LIMIT;
/* Pitch 串级闭环,位置环反馈为 AHRS Roll(legacy 语义) */
pitch_angle_pid.Need_Value = pitch_target_deg;
云台/modules/dev/buzzer.c
+106 -10
View File
@@ -6,6 +6,7 @@
* ========================================================================== */
#include "buzzer.h"
#include "tim.h"
#include "robot_param.h"
extern TIM_HandleTypeDef htim4;
@@ -32,7 +33,8 @@ void buzzer_on(buzzer_tone_e tone)
{
__HAL_TIM_SET_PRESCALER(&htim4, buzzer_tone_freq[tone]);
HAL_TIM_GenerateEvent(&htim4, TIM_EVENTSOURCE_UPDATE); // 立即装载 PSC
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 5); // 占空比 50%
/* 占空比 30%:抑制高次尖锐谐波,音色圆润清晰 */
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 3);
}
else
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
@@ -44,21 +46,115 @@ void buzzer_off(void)
}
/* ==========================================================================
* 调试用旋律(见 buzzer.h):每步 100ms,空拍 BUZZER_P 为静音。
* 无源蜂鸣器只有单音,这里用"上行分解和弦 + 回落"拼成一句短旋律;选音限定
* 在中音 3 ~ 高音 2,避免刺耳。循环播放不会漏掉"有设备掉线"这一事实,
* 因为红灯常亮由 monitor_task 独立控制,与该旋律无关。
* 改旋律:直接增删这里的音符即可,长度会自动生效。
* 春日影(MyGO!!!!! ver.) / MyGO!!!!!【原创歌曲】官方原版完整编配
* "なんで春日影やったの？！"
* 乐曲架构:
* Part 1: 乐奈吉他前奏 (Guitar Intro Riff)
* Part 2: 主歌 Verse A ("まだ誰も知らない...")
* Part 3: 预副歌 Pre-Chorus B ("踏み出す一歩が...")
* Part 4: 灵魂副歌 Chorus ("春の日差しに 包まれて...")
* Part 5: 乐奈标志性吉他间奏 (Guitar Solo)
* 吐音设计: 每个音符末尾精准留有 BUZZER_P 断音,保证音符清脆灵动不糊音
* ========================================================================== */
static const buzzer_tone_e buzzer_melody[] = {
BUZZER_M3, BUZZER_M5, BUZZER_M6, BUZZER_H1, BUZZER_P,
BUZZER_M6, BUZZER_H1, BUZZER_H2, BUZZER_P,
BUZZER_H1, BUZZER_M6, BUZZER_M5, BUZZER_M3, BUZZER_P,
/* ==================== Part 1: 乐奈吉他前奏 (Intro) ==================== */
/* 3 2 1 5_ | 6_ 1 2 3 2 - - */
BUZZER_M3, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_L5, BUZZER_L5, BUZZER_P,
BUZZER_L6, BUZZER_L6, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_P,
BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P, BUZZER_P,
/* 3 2 1 5_ | 6_ 1 2 3 1 - - */
BUZZER_M3, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_L5, BUZZER_L5, BUZZER_P,
BUZZER_L6, BUZZER_L6, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_P,
BUZZER_M3, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_P, BUZZER_P,
/* ==================== Part 2: 主歌 Verse A ==================== */
/* "まだ誰も知らない" (3 3 3 2 1 2 3 5 3 | 2 1 2 -) */
BUZZER_M3, BUZZER_P, BUZZER_M3, BUZZER_P, BUZZER_M3,
BUZZER_M2, BUZZER_M1, BUZZER_M2, BUZZER_M3,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "薄明かりの空に" (3 3 3 2 1 2 3 5 3 | 2 1 1 -) */
BUZZER_M3, BUZZER_P, BUZZER_M3, BUZZER_P, BUZZER_M3,
BUZZER_M2, BUZZER_M1, BUZZER_M2, BUZZER_M3,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M1,
BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_P,
/* ==================== Part 3: 预副歌 Pre-Chorus B ==================== */
/* "踏み出す一歩が 怖くても" (6_ 1 2 3 2 1 2 3 | 5 3 2 1 2 -) */
BUZZER_L6, BUZZER_M1, BUZZER_M2,
BUZZER_M3, BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M3, BUZZER_P,
BUZZER_M5, BUZZER_M3, BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "あなたとなら 行ける気がした" (6_ 1 2 3 2 1 | 2 3 5 6 5 3 2 -) */
BUZZER_L6, BUZZER_M1, BUZZER_M2,
BUZZER_M3, BUZZER_M2, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_M3, BUZZER_M5, BUZZER_M6,
BUZZER_M5, BUZZER_M3,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P, BUZZER_P,
/* ==================== Part 4: 灵魂副歌 Chorus ==================== */
/* "春の日差しに 包まれて" (1' 7 6 5 3 5 6 | 5 3 2 1 2 -) */
BUZZER_H1, BUZZER_P, BUZZER_M7, BUZZER_M6,
BUZZER_M5, BUZZER_M3, BUZZER_M5, BUZZER_M6, BUZZER_P,
BUZZER_M5, BUZZER_M3,
BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "揺れる影 重なり合う" (1' 7 6 5 3 | 5 6 1' 2' 3' 2' -) */
BUZZER_H1, BUZZER_P, BUZZER_M7, BUZZER_M6,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M5, BUZZER_M6,
BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_P,
/* "どうか消えないで" (1' 2' 3' 2' 1' 2' - -) */
BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2,
BUZZER_H1, BUZZER_P,
BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_P,
/* "私たちが 見つけた光" (6 1' 2' 3' 2' 1' | 6 1' 2' 1' - - -) */
BUZZER_M6, BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2, BUZZER_H1, BUZZER_P,
BUZZER_M6, BUZZER_H1, BUZZER_H2,
BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_P, BUZZER_P,
/* ==================== Part 5: 乐奈间奏 Solo (Guitar Solo) ==================== */
/* 3' - 2' 1' 6 | 1' 2' 3' 5' 3' - | 2' 3' 2' 1' 6_ 1' | 1' - - - */
BUZZER_H3, BUZZER_H3, BUZZER_P,
BUZZER_H2, BUZZER_H1, BUZZER_M6, BUZZER_P,
BUZZER_H1, BUZZER_H2, BUZZER_H3, BUZZER_H5,
BUZZER_H3, BUZZER_H3, BUZZER_H3, BUZZER_P,
BUZZER_H2, BUZZER_H3, BUZZER_H2, BUZZER_H1,
BUZZER_L6, BUZZER_H1,
BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, // 终章长音收尾
BUZZER_P, BUZZER_P, BUZZER_P, BUZZER_P, // 尾部空拍 400ms 后循环
};
void buzzer_play_melody(uint16_t step)
{
const uint16_t steps =
(uint16_t)(sizeof(buzzer_melody) / sizeof(buzzer_melody[0]));
buzzer_on(buzzer_melody[step % steps]);
#ifndef BUZZER_MELODY_SPEED_DIV
#define BUZZER_MELODY_SPEED_DIV 1
#endif
buzzer_on(buzzer_melody[(step / BUZZER_MELODY_SPEED_DIV) % steps]);
}
底盘/Application/Task/Src/chassis_task.c
+10 -1
View File
@@ -17,6 +17,7 @@
#include "robot_typedef.h"
#include "chassis.h"
#include "attitude.h"
#include "bmi088.h"
#include "referee.h"
#include "c_comm.h"
#include "robot_param.h"
@@ -120,6 +121,14 @@ void chassis_task(void const * argument)
float vx = cmd_robot.vx * boost;
float vy = cmd_robot.vy * boost;
/* 坐标系旋转投影:将以云台枪口为准的平移速度转换到底盘坐标系，并叠加 kw 前馈 */
float chassis_vx = vx;
float chassis_vy = vy;
/* 跟随模式下无持续自旋，前馈量为0；小陀螺模式下代入实际自旋角速度 w */
float w_feedforward = (cmd_robot.chassis_mode == CHASSIS_MODE_FOLLOW) ? 0.0f : bmi088_gyro[2];
chassis_vector_to_body(vx, vy, w_feedforward, &chassis_vx, &chassis_vy);
/* 简易功率限制:缓冲能量线性映射为缩放系数 */
float scale = 1.0f;
if (referee.buffer_energy < POWER_LIMIT_BUFFER_LOW)
@@ -130,7 +139,7 @@ void chassis_task(void const * argument)
else if (scale > 1.0f)
scale = 1.0f;
chassis_control(vx, vy, w, scale);
chassis_control(chassis_vx, chassis_vy, w, scale);
}
else
{
底盘/Application/robot_param.h
+9 -5
View File
@@ -12,6 +12,8 @@
#define PITCH_GM6020_POSITION_LOWER_LIMIT 3990 // Pitch 轴编码器值下限(云台抬起方向)
#define PITCH_GM6020_POSITION_UPPER_LIMIT 2220 // Pitch 轴编码器值上限(云台压低方向)
#define PITCH_GM6020_ENCODER_ZERO 3245 // Pitch 轴编码器零位
#define YAW_GM6020_ENCODER_ZERO 4440 // Yaw 轴编码器零位(机械正前方,0~8191)
#define CHASSIS_SPIN_FEEDFORWARD_K 0.0725f // 小陀螺解算时延前馈补偿系数(s)
#define GIMBAL_FRICTION_WHEEL_SPEED 5500.0f // 摩擦轮转速(RPM)
#define GIMBAL_RAMMER_SPEED -5400.0f// 拨弹盘转速(RPM,负向发射)
@@ -31,16 +33,17 @@
* (GIMBAL_YAW_DETECT 见下),无需人工猜;
* - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电压。
* 调参顺序:先速度环(点动不振荡),再位置环(刚性)——见移植 README §8.1 */
#define GIMBAL_YAW_ANGLE_KP 15.0f // ° -> °/s:10° 误差给 150°/s
#define GIMBAL_YAW_ANGLE_KP 20.0f // ° -> °/s:10° 误差给 150°/s
#define GIMBAL_YAW_ANGLE_KI 0.0f
#define GIMBAL_YAW_ANGLE_KD 0.0f // 速度环本身即微分,不再叠加
#define GIMBAL_YAW_ANGLE_EK_DEADBAND 0.05f // 误差死区(°),QEKF 噪声小可用窄死区
#define GIMBAL_YAW_ANGLE_OUT_LIMIT 360.0f // 目标角速度上限(°/s)
#define GIMBAL_YAW_SPEED_KP 60.0f // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
#define GIMBAL_YAW_SPEED_KP 85.0f // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
#define GIMBAL_YAW_SPEED_KI 0.0f // 稳定后可回填 0.5~2 消速度稳态差
#define GIMBAL_YAW_SPEED_KD 0.0f // 陀螺速率反馈噪声小,先不用 D
#define GIMBAL_YAW_SPEED_OUT_LIMIT 25000.0f// GM6020 电压限幅
#define GIMBAL_YAW_SPIN_FEEDFORWARD_K 24.0f // 小陀螺底盘自旋解耦前馈系数(RPM->电压,通常15~35)
/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电压脉冲,
* 看陀螺 z 轴往哪边转——脉冲引起同向转动则符号 +1,反向则 -1。
@@ -91,10 +94,10 @@
* err = wrap180(云台yaw - 底盘yaw)
* 不再依赖底盘侧 GM6020(0x205) 反馈,皮带虚位不在环内,无基准锁定时序坑。
* 两板 INS 各自上电零点任意,但差值只随相对转动变化,天然正确 */
#define CHASSIS_FOLLOW_KP 0.4f // w 量纲/°:10° 偏差给 w=4
#define CHASSIS_FOLLOW_KP 0.4678f // w 量纲/°:10° 偏差给 w=4
#define CHASSIS_FOLLOW_KI 0.0f // 调试期 0,同旧教训(积分残留)
#define CHASSIS_FOLLOW_KD 0.0f
#define CHASSIS_FOLLOW_OUT_LIMIT 4.0f // 输出限幅(介于慢/快陀螺之间)
#define CHASSIS_FOLLOW_KD 24.452f
#define CHASSIS_FOLLOW_OUT_LIMIT 4.5f // 输出限幅(介于慢/快陀螺之间)
#define CHASSIS_FOLLOW_DEADBAND 1.0f // 误差死区(°)
/* 跟随符号全自动综合:云台自检(0x1A9 flags)下发编码器 tick 增向,
@@ -129,6 +132,7 @@
* 干扰)。红灯常亮与其它灯语完全不变,仍能看出是哪台设备掉线;比赛请改 0。
* 旋律音符表见 modules/BUZZER/buzzer.c 的 buzzer_melody[] */
#define DEBUG_BUZZER_MELODY 1
#define BUZZER_MELODY_SPEED_DIV 1 // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍) // 旋律降速分频(默认2:放慢一倍匹配原曲抒情节拍;设为3/4可进一步放慢)
/* ============================ 掉线检测 ============================ */
#define DEVICE_OFFLINE_TIME_MS 100 // CAN 设备/裁判系统掉线判定时间
底盘/MDK-ARM/Simba-ELCT-FrameWork.uvoptx
+1 -1
View File
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
<nTsel>3</nTsel>
<nTsel>2</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
底盘/modules/control/chassis.c
+51 -13
View File
@@ -14,6 +14,7 @@
* 功率: chassis_control() 的 power_scale 直接缩放四轮输出电流
* ========================================================================== */
#include "chassis.h"
#include <math.h>
#include "pid.h"
#include "filter.h"
#include "attitude.h"
@@ -153,32 +154,30 @@ float chassis_follow_sign(void)
return dbg_follow_sign * (float)ctoc_encoder_ccw;
}
/* 跟随一步:反馈为 Yaw GM6020 编码器相对角(零漂移),输出 w */
/* 跟随一步:反馈为 Yaw GM6020 编码器对齐设定机械零位(4050),输出 w */
float chassis_follow_w(void)
{
/* 尚未收到 0x205 反馈时不锁定基准(避免首帧假偏差),输出 0 */
/* 尚未收到 0x205 反馈时输出 0 */
if (motor_yaw_follow.fdb.last_online_tick == 0)
{
follow_latched = 0;
return 0;
}
if (follow_reset_request || !follow_latched)
if (follow_reset_request)
{
follow_reset_request = 0;
follow_target_tick = (float)motor_yaw_follow.fdb.total_tick;
follow_latched = 1;
PID_PositionClean(&follow_pid);
}
/* 计算当前机械编码值距离设定零位(4050)的最短差值(-4096 ~ +4096) */
int16_t tick_diff = (int16_t)motor_yaw_follow.fdb.raw_angle - (int16_t)YAW_GM6020_ENCODER_ZERO;
if (tick_diff > 4096)
tick_diff -= 8192;
else if (tick_diff < -4096)
tick_diff += 8192;
/* 相对角误差(°):tick 增向按云台自检结果折算为 CCW 正 */
float err_deg = ((float)motor_yaw_follow.fdb.total_tick - follow_target_tick) * 360.0f / 8192.0f;
float err_deg = (float)tick_diff * (360.0f / 8192.0f);
if (ctoc_encoder_ccw < 0)
err_deg = -err_deg;
if (err_deg > 180.0f)
err_deg -= 360.0f;
else if (err_deg < -180.0f)
err_deg += 360.0f;
if (err_deg > -CHASSIS_FOLLOW_DEADBAND && err_deg < CHASSIS_FOLLOW_DEADBAND)
err_deg = 0;
@@ -195,3 +194,42 @@ void chassis_output_zero(void)
{
dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
}
#ifndef PI
#define PI 3.14159265358979323846f
#endif
void chassis_vector_to_body(float vx_g, float vy_g, float w, float * vx_c, float * vy_c)
{
/* 电机掉线兜底:若无云台编码器反馈,直接直通输出 */
if (motor_yaw_follow.fdb.last_online_tick == 0)
{
*vx_c = vx_g;
*vy_c = vy_g;
return;
}
/* 1. 计算当前机械编码值距离设定零位的最短差值(-4096 ~ +4096) */
int16_t tick_diff = (int16_t)motor_yaw_follow.fdb.raw_angle - (int16_t)YAW_GM6020_ENCODER_ZERO;
if (tick_diff > 4096)
tick_diff -= 8192;
else if (tick_diff < -4096)
tick_diff += 8192;
/* 2. 相对机械角误差(rad):tick 增向按云台自检结果折算为 CCW 正 */
float alpha_rad = (float)tick_diff * (2.0f * PI / 8192.0f);
int8_t enc_sign = (ctoc_encoder_ccw != 0) ? ctoc_encoder_ccw : 1;
if (enc_sign < 0)
alpha_rad = -alpha_rad;
/* 3. 叠加角速度前馈补偿(-kw 消除通信及响应时延滞后) */
float alpha_comp = alpha_rad - (CHASSIS_SPIN_FEEDFORWARD_K * w);
/* 4. 二维旋转矩阵投影(修正正负号: 适配 vx<0前进, vy>0向左 的坐标系定义) */
float cos_a = cosf(alpha_comp);
float sin_a = sinf(alpha_comp);
*vx_c = vx_g * cos_a + vy_g * sin_a;
*vy_c = -vx_g * sin_a + vy_g * cos_a;
}
底盘/modules/control/chassis.h
+4
View File
@@ -46,4 +46,8 @@ extern volatile float dbg_follow_err_deg;
extern volatile float dbg_follow_out;
extern volatile float dbg_follow_sign;
/* 将以云台为基准的平移速度(vx_g, vy_g)旋转投影到底盘自身坐标系(vx_c, vy_c)
* 无论底盘是否处于小陀螺自旋状态，使 vx_g 始终代表沿云台枪口方向前进 */
extern void chassis_vector_to_body(float vx_g, float vy_g, float w, float * vx_c, float * vy_c);
#endif
底盘/modules/dev/buzzer.c
+106 -10
View File
@@ -6,6 +6,7 @@
* ========================================================================== */
#include "buzzer.h"
#include "tim.h"
#include "robot_param.h"
extern TIM_HandleTypeDef htim4;
@@ -32,7 +33,8 @@ void buzzer_on(buzzer_tone_e tone)
{
__HAL_TIM_SET_PRESCALER(&htim4, buzzer_tone_freq[tone]);
HAL_TIM_GenerateEvent(&htim4, TIM_EVENTSOURCE_UPDATE); // 立即装载 PSC
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 5); // 占空比 50%
/* 占空比 30%:抑制高次尖锐谐波,音色圆润清晰 */
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 3);
}
else
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, 0);
@@ -44,21 +46,115 @@ void buzzer_off(void)
}
/* ==========================================================================
* 调试用旋律(见 buzzer.h):每步 100ms,空拍 BUZZER_P 为静音。
* 无源蜂鸣器只有单音,这里用"上行分解和弦 + 回落"拼成一句短旋律;选音限定
* 在中音 3 ~ 高音 2,避免刺耳。循环播放不会漏掉"有设备掉线"这一事实,
* 因为红灯常亮由 monitor_task 独立控制,与该旋律无关。
* 改旋律:直接增删这里的音符即可,长度会自动生效。
* 春日影(MyGO!!!!! ver.) / MyGO!!!!!【原创歌曲】官方原版完整编配
* "なんで春日影やったの？！"
* 乐曲架构:
* Part 1: 乐奈吉他前奏 (Guitar Intro Riff)
* Part 2: 主歌 Verse A ("まだ誰も知らない...")
* Part 3: 预副歌 Pre-Chorus B ("踏み出す一歩が...")
* Part 4: 灵魂副歌 Chorus ("春の日差しに 包まれて...")
* Part 5: 乐奈标志性吉他间奏 (Guitar Solo)
* 吐音设计: 每个音符末尾精准留有 BUZZER_P 断音,保证音符清脆灵动不糊音
* ========================================================================== */
static const buzzer_tone_e buzzer_melody[] = {
BUZZER_M3, BUZZER_M5, BUZZER_M6, BUZZER_H1, BUZZER_P,
BUZZER_M6, BUZZER_H1, BUZZER_H2, BUZZER_P,
BUZZER_H1, BUZZER_M6, BUZZER_M5, BUZZER_M3, BUZZER_P,
/* ==================== Part 1: 乐奈吉他前奏 (Intro) ==================== */
/* 3 2 1 5_ | 6_ 1 2 3 2 - - */
BUZZER_M3, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_L5, BUZZER_L5, BUZZER_P,
BUZZER_L6, BUZZER_L6, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_P,
BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P, BUZZER_P,
/* 3 2 1 5_ | 6_ 1 2 3 1 - - */
BUZZER_M3, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M2, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_L5, BUZZER_L5, BUZZER_P,
BUZZER_L6, BUZZER_L6, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_P,
BUZZER_M3, BUZZER_P,
BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_P, BUZZER_P,
/* ==================== Part 2: 主歌 Verse A ==================== */
/* "まだ誰も知らない" (3 3 3 2 1 2 3 5 3 | 2 1 2 -) */
BUZZER_M3, BUZZER_P, BUZZER_M3, BUZZER_P, BUZZER_M3,
BUZZER_M2, BUZZER_M1, BUZZER_M2, BUZZER_M3,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "薄明かりの空に" (3 3 3 2 1 2 3 5 3 | 2 1 1 -) */
BUZZER_M3, BUZZER_P, BUZZER_M3, BUZZER_P, BUZZER_M3,
BUZZER_M2, BUZZER_M1, BUZZER_M2, BUZZER_M3,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M2, BUZZER_M1,
BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_M1, BUZZER_P,
/* ==================== Part 3: 预副歌 Pre-Chorus B ==================== */
/* "踏み出す一歩が 怖くても" (6_ 1 2 3 2 1 2 3 | 5 3 2 1 2 -) */
BUZZER_L6, BUZZER_M1, BUZZER_M2,
BUZZER_M3, BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M3, BUZZER_P,
BUZZER_M5, BUZZER_M3, BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "あなたとなら 行ける気がした" (6_ 1 2 3 2 1 | 2 3 5 6 5 3 2 -) */
BUZZER_L6, BUZZER_M1, BUZZER_M2,
BUZZER_M3, BUZZER_M2, BUZZER_M1, BUZZER_P,
BUZZER_M2, BUZZER_M3, BUZZER_M5, BUZZER_M6,
BUZZER_M5, BUZZER_M3,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P, BUZZER_P,
/* ==================== Part 4: 灵魂副歌 Chorus ==================== */
/* "春の日差しに 包まれて" (1' 7 6 5 3 5 6 | 5 3 2 1 2 -) */
BUZZER_H1, BUZZER_P, BUZZER_M7, BUZZER_M6,
BUZZER_M5, BUZZER_M3, BUZZER_M5, BUZZER_M6, BUZZER_P,
BUZZER_M5, BUZZER_M3,
BUZZER_M2, BUZZER_M1,
BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_M2, BUZZER_P,
/* "揺れる影 重なり合う" (1' 7 6 5 3 | 5 6 1' 2' 3' 2' -) */
BUZZER_H1, BUZZER_P, BUZZER_M7, BUZZER_M6,
BUZZER_M5, BUZZER_M3, BUZZER_P,
BUZZER_M5, BUZZER_M6,
BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_P,
/* "どうか消えないで" (1' 2' 3' 2' 1' 2' - -) */
BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2,
BUZZER_H1, BUZZER_P,
BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_H2, BUZZER_P,
/* "私たちが 見つけた光" (6 1' 2' 3' 2' 1' | 6 1' 2' 1' - - -) */
BUZZER_M6, BUZZER_H1, BUZZER_H2,
BUZZER_H3, BUZZER_H2, BUZZER_H1, BUZZER_P,
BUZZER_M6, BUZZER_H1, BUZZER_H2,
BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_P, BUZZER_P,
/* ==================== Part 5: 乐奈间奏 Solo (Guitar Solo) ==================== */
/* 3' - 2' 1' 6 | 1' 2' 3' 5' 3' - | 2' 3' 2' 1' 6_ 1' | 1' - - - */
BUZZER_H3, BUZZER_H3, BUZZER_P,
BUZZER_H2, BUZZER_H1, BUZZER_M6, BUZZER_P,
BUZZER_H1, BUZZER_H2, BUZZER_H3, BUZZER_H5,
BUZZER_H3, BUZZER_H3, BUZZER_H3, BUZZER_P,
BUZZER_H2, BUZZER_H3, BUZZER_H2, BUZZER_H1,
BUZZER_L6, BUZZER_H1,
BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, BUZZER_H1, // 终章长音收尾
BUZZER_P, BUZZER_P, BUZZER_P, BUZZER_P, // 尾部空拍 400ms 后循环
};
void buzzer_play_melody(uint16_t step)
{
const uint16_t steps =
(uint16_t)(sizeof(buzzer_melody) / sizeof(buzzer_melody[0]));
buzzer_on(buzzer_melody[step % steps]);
#ifndef BUZZER_MELODY_SPEED_DIV
#define BUZZER_MELODY_SPEED_DIV 1
#endif
buzzer_on(buzzer_melody[(step / BUZZER_MELODY_SPEED_DIV) % steps]);
}