115 lines
4.2 KiB
C
115 lines
4.2 KiB
C
/* =============================================================================
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* shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(0x200 CAN2 槽1)
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* 逻辑:
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* 摩擦轮开关受发射机构上电状态门控(可由 DEBUG_SHOOT_WITHOUT_REFEREE 绕过),
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* 开启时联动激光(PC8=TIM3_CH3 PWM,占空比 0/满 对应关/开)
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* 拨弹仅在摩擦轮开启后允许;fire=GIMBAL_RAMMER_SPEED(-5400),eject 反向
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* 摩擦轮通过 0x200(CAN1)发送, 拨弹通过 0x200(CAN2)发送
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* ========================================================================== */
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#include "shoot.h"
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#include "gimbal.h"
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#include "pid.h"
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#include "tim.h"
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#include "robot_param.h"
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extern TIM_HandleTypeDef htim3;
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uint8_t shoot_friction_flag = 0;
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static PID_PositionTypeDef friction_l_pid, friction_r_pid, rammer_pid;
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/* 激光:PC8 = TIM3_CH3(10kHz PWM,ARR=8399),占空比 0/满 对应关/开 */
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#define LASER_ON() __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 8399)
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#define LASER_OFF() __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 0)
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static void laser_init(void)
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{
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__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_3, 0);
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HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
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}
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void shoot_init(void)
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{
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PID_PositionStructureInit(&friction_l_pid, 0);
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PID_PositionSetParameter(&friction_l_pid, GIMBAL_FRICTION_WHEEL_KP, GIMBAL_FRICTION_WHEEL_KI, GIMBAL_FRICTION_WHEEL_KD);
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PID_PositionSetEkRange(&friction_l_pid, -5, 5);
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PID_PositionSetOUTRange(&friction_l_pid, -15000, 15000);
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PID_PositionStructureInit(&friction_r_pid, 0);
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PID_PositionSetParameter(&friction_r_pid, GIMBAL_FRICTION_WHEEL_KP, GIMBAL_FRICTION_WHEEL_KI, GIMBAL_FRICTION_WHEEL_KD);
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PID_PositionSetEkRange(&friction_r_pid, -5, 5);
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PID_PositionSetOUTRange(&friction_r_pid, -15000, 15000);
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PID_PositionStructureInit(&rammer_pid, GIMBAL_RAMMER_SPEED);
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PID_PositionSetParameter(&rammer_pid, GIMBAL_RAMMER_KP, GIMBAL_RAMMER_KI, GIMBAL_RAMMER_KD);
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PID_PositionSetEkRange(&rammer_pid, -20, 20);
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PID_PositionSetOUTRange(&rammer_pid, -10000, 10000); // M2006 电流限幅(±10000 对应 ±10A)
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laser_init();
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}
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void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t shooter_power_on)
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{
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/* 摩擦轮(与 legacy 逻辑一致:发射机构上电才允许开启;
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* 台架调试时可经 DEBUG_SHOOT_WITHOUT_REFEREE 绕过裁判系统检查) */
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if (friction_on && (shooter_power_on || DEBUG_SHOOT_WITHOUT_REFEREE))
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{
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friction_l_pid.Need_Value = -GIMBAL_FRICTION_WHEEL_SPEED;
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friction_r_pid.Need_Value = GIMBAL_FRICTION_WHEEL_SPEED;
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LASER_ON();
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shoot_friction_flag = 1;
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}
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else
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{
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friction_l_pid.Need_Value = 0;
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friction_r_pid.Need_Value = 0;
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LASER_OFF();
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shoot_friction_flag = 0;
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}
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/* 拨弹:仅在摩擦轮开启时允许 */
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if (shoot_friction_flag)
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{
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if (fire)
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rammer_pid.Need_Value = GIMBAL_RAMMER_SPEED;
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else if (eject)
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rammer_pid.Need_Value = -GIMBAL_RAMMER_SPEED;
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else
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rammer_pid.Need_Value = 0;
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}
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else
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rammer_pid.Need_Value = 0;
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PID_PositionCalc(&friction_l_pid, motor_friction_l.fdb.rotor_speed);
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PID_PositionCalc(&friction_r_pid, motor_friction_r.fdb.rotor_speed);
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PID_PositionCalc(&rammer_pid, motor_rammer.fdb.rotor_speed);
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/* 拨弹电流由 shoot_send_cmd 统一在 0x200 帧(槽 3)发送, 保留共享函数以兼容 */
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shoot_share_rammer_current((int16_t)rammer_pid.OUT);
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}
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void shoot_send_cmd(void)
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{
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/* CAN1 0x200: 槽1=左摩擦轮, 槽2=右摩擦轮 */
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dji_motor_send_current_low(&hcan1,
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(int16_t)friction_l_pid.OUT,
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(int16_t)friction_r_pid.OUT,
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0,
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0);
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/* CAN2 0x200: 槽1=拨弹盘 M2006 (ID 1) */
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dji_motor_send_current_low(&hcan2,
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(int16_t)rammer_pid.OUT,
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0,
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0,
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0);
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}
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void shoot_output_zero(void)
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{
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dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
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dji_motor_send_current_low(&hcan2, 0, 0, 0, 0);
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LASER_OFF();
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shoot_friction_flag = 0;
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}
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