diff --git a/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml b/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml new file mode 100644 index 00000000..61946dff --- /dev/null +++ b/rmcs_ws/src/rmcs_bringup/config/steering-hero.yaml @@ -0,0 +1,276 @@ +rmcs_executor: + ros__parameters: + update_rate: 1000.0 + components: + - rmcs_core::hardware::SteeringHero -> hero_hardware + + - rmcs_core::referee::Status -> referee_status + - rmcs_core::referee::command::Interaction -> referee_interaction + # - rmcs_core::referee::command::interaction::Ui -> referee_ui + # - rmcs_core::referee::app::ui::Hero -> referee_ui_hero + - rmcs_core::referee::Command -> referee_command + + - rmcs_core::controller::gimbal::HeroGimbalController -> gimbal_controller + - rmcs_core::controller::gimbal::DualYawController -> dual_yaw_controller + - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller + - rmcs_core::controller::pid::PidController -> pitch_velocity_pid_controller + + # - rmcs_core::controller::gimbal::PlayerViewer -> gimbal_player_viewer_controller + # - rmcs_core::controller::pid::ErrorPidController -> viewer_angle_pid_controller + + - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller + - rmcs_core::controller::shooting::HeatController -> heat_controller + - rmcs_core::controller::shooting::PutterController -> bullet_feeder_controller + - rmcs_core::controller::pid::PidController -> first_left_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> first_right_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> second_left_friction_velocity_pid_controller + - rmcs_core::controller::pid::PidController -> second_right_friction_velocity_pid_controller + # - rmcs_core::controller::shooting::ShootingRecorder -> shooting_recorder + + - rmcs_core::controller::chassis::ChassisController -> chassis_controller + - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller + - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller + - rmcs_core::controller::chassis::ChassisClimberController -> climber_controller + + # - rmcs_auto_aim::AutoAimInitializer -> auto_aim_initializer + # - rmcs_auto_aim::AutoAimController -> auto_aim_controller + + - rmcs_core::broadcaster::ValueBroadcaster -> value_broadcaster + +hero_hardware: + ros__parameters: + board_serial_top_board: "D4-2BCA-2E47-76CD-23BC-0B78-684B" + board_serial_bottom_board_one: "D4-7973-19A9-EA40-4A3E-306F-10F9" + board_serial_bottom_board_two: "D4-3674-7174-8768-879E-E44A-3931" + bottom_yaw_motor_zero_point: 52508 + pitch_motor_zero_point: 63917 + top_yaw_motor_zero_point: 58744 + viewer_motor_zero_point: 3030 + external_imu_port: /dev/ttyUSB0 + left_front_zero_point: 4438 + right_front_zero_point: 7167 + left_back_zero_point: 370 + right_back_zero_point: 5156 + q0: 0.0 + q1: 0.0 + q2: 0.0 + q3: 1.0 + # left_front_zero_point: 3473 + # left_back_zero_point: 6124 + # right_back_zero_point: 6157 + # right_front_zero_point: 2723 + +value_broadcaster: + ros__parameters: + forward_list: + - /chassis/left_front_steering/angle + - /chassis/left_back_steering/angle + - /chassis/right_back_steering/angle + - /chassis/right_front_steering/angle + - /chassis/left_front_steering/control_torque + - /chassis/left_back_steering/control_torque + - /chassis/right_back_steering/control_torque + - /chassis/right_front_steering/control_torque + - /gimbal/pitch/control_torque + - /gimbal/pitch/velocity + - /gimbal/pitch/control_velocity + - /gimbal/pitch/control_angle_error + - /chassis/climber/left_back_motor/torque + - /chassis/climber/right_back_motor/torque + - /chassis/climber/left_back_motor/velocity + - /chassis/climber/right_back_motor/velocity + - /chassis/climber/right_back_motor/control_torque + - /chassis/climber/left_back_motor/control_torque + +climber_controller: + ros__parameters: + front_climber_velocity: 60.0 + back_climber_velocity: 20.0 + auto_climb_dash_velocity: 3.0 + auto_climb_support_retract_velocity: 30.0 + sync_coefficient: 0.3 + climb_timeout_limit: 1000 + first_stair_approach_pitch: 0.485 + second_stair_approach_pitch: 0.35 + back_climber_burst_velocity: 15.0 + back_climber_burst_duration: 300 + front_kp: 1.0 + front_ki: 0.0 + front_kd: 0.5 + back_kp: 1.0 + back_ki: 0.0 + back_kd: 0.0 + +gimbal_controller: + ros__parameters: + upper_limit: -0.6266 + lower_limit: 0.4629 + +dual_yaw_controller: + ros__parameters: + top_yaw_angle_kp: 10.0 + top_yaw_angle_ki: 0.0 + top_yaw_angle_kd: 0.0 + top_yaw_velocity_kp: 50.0 + top_yaw_velocity_ki: 0.004 + top_yaw_velocity_kd: 0.0 + bottom_yaw_angle_kp: 5.0 + bottom_yaw_angle_ki: 0.0 + bottom_yaw_angle_kd: 0.0 + bottom_yaw_velocity_kp: 10.0 + bottom_yaw_velocity_ki: 0.0 + bottom_yaw_velocity_kd: 50.0 + +# dual_yaw_controller: +# ros__parameters: +# top_yaw_angle_kp: 24.5 +# top_yaw_angle_ki: 0.0 +# top_yaw_angle_kd: 0.0 +# top_yaw_velocity_kp: 77.4 +# top_yaw_velocity_ki: 0.004 +# top_yaw_velocity_kd: 1.0 +# bottom_yaw_angle_kp: 8.6 +# bottom_yaw_angle_ki: 0.0 +# bottom_yaw_angle_kd: 0.0 +# bottom_yaw_velocity_kp: 25.85 +# bottom_yaw_velocity_ki: 0.0 +# bottom_yaw_velocity_kd: 50.0 + +pitch_angle_pid_controller: + ros__parameters: + measurement: /gimbal/pitch/control_angle_error + control: /gimbal/pitch/control_velocity + kp: 28.0 #28.00 + ki: 0.0 + kd: 0.6 #0.6 + +pitch_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/pitch/velocity_imu + setpoint: /gimbal/pitch/control_velocity + control: /gimbal/pitch/control_torque + kp: 45.0 #45.00 + ki: 0.00 + kd: 1.0 #1.00 + +gimbal_player_viewer_controller: + ros__parameters: + upper_limit: 0.0101 + lower_limit: 0.6191 + +viewer_angle_pid_controller: + ros__parameters: + measurement: /gimbal/player_viewer/control_angle_error + control: /gimbal/player_viewer/control_velocity + kp: 17.00 + ki: 0.00 + kd: 2.00 + +friction_wheel_controller: + ros__parameters: + friction_wheels: + - /gimbal/first_left_friction + - /gimbal/first_right_friction + - /gimbal/second_left_friction + - /gimbal/second_right_friction + friction_velocities: + - 450.00 + - 450.00 + - 535.00 + - 535.00 + friction_soft_start_stop_time: 1.0 + +heat_controller: + ros__parameters: + heat_per_shot: 100000 + reserved_heat: 0 + +shooting_recorder: + ros__parameters: + friction_wheel_count: 2 + log_mode: 2 # 1: trigger, 2: timing + +first_left_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/first_left_friction/velocity + setpoint: /gimbal/first_left_friction/control_velocity + control: /gimbal/first_left_friction/control_torque + kp: 0.003436926 + ki: 0.00 + kd: 0.009373434 + +first_right_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/first_right_friction/velocity + setpoint: /gimbal/first_right_friction/control_velocity + control: /gimbal/first_right_friction/control_torque + kp: 0.003436926 + ki: 0.00 + kd: 0.009373434 + +second_left_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/second_left_friction/velocity + setpoint: /gimbal/second_left_friction/control_velocity + control: /gimbal/second_left_friction/control_torque + kp: 0.003436926 + ki: 0.00 + kd: 0.009373434 + +second_right_friction_velocity_pid_controller: + ros__parameters: + measurement: /gimbal/second_right_friction/velocity + setpoint: /gimbal/second_right_friction/control_velocity + control: /gimbal/second_right_friction/control_torque + kp: 0.003436926 + ki: 0.00 + kd: 0.009373434 + +steering_wheel_controller: + ros__parameters: + mess: 22.0 + moment_of_inertia: 1.08 + vehicle_radius: 0.28284271247462 + wheel_radius: 0.055 + friction_coefficient: 0.6 + k1: 2.958580e+00 + k2: 3.082190e-03 + no_load_power: 11.37 + +auto_aim_controller: + ros__parameters: + # capture + use_video: false # If true, use video stream instead of camera. + video_path: "/workspaces/RMCS/rmcs_ws/resources/1.avi" + exposure_time: 1 + invert_image: false + # identifier + armor_model_path: "/models/mlp.onnx" + # pnp + fx: 1.722231837421459e+03 + fy: 1.724876404292754e+03 + cx: 7.013056440882832e+02 + cy: 5.645821718351237e+02 + k1: -0.064232403853946 + k2: -0.087667493884102 + k3: 0.792381808294582 + # tracker + armor_predict_duration: 500 + # controller + gimbal_predict_duration: 100 + yaw_error: 0. + pitch_error: 0. + shoot_velocity: 28.0 + predict_sec: 0.095 + # etc + buff_predict_duration: 200 + buff_model_path: "/models/buff_nocolor_v6.onnx" + omni_exposure: 1000.0 + record_fps: 120 + debug: false # Setup in actual using.Debug mode is used when referee is not ready + debug_color: 0 # 0 For blue while 1 for red. mine + debug_robot_id: 4 + debug_buff_mode: false + record: false + raw_img_pub: false # Set false in actual use + image_viewer_type: 2 diff --git a/rmcs_ws/src/rmcs_core/plugins.xml b/rmcs_ws/src/rmcs_core/plugins.xml index f7847151..9df7668b 100644 --- a/rmcs_ws/src/rmcs_core/plugins.xml +++ b/rmcs_ws/src/rmcs_core/plugins.xml @@ -1,29 +1,128 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Steering wheel controller. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Gimbal player viewer + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + the recorder of Hero + + + Test plugin. + + + Test plugin. + + + Feedforward pid controller. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + + Test plugin. + + \ No newline at end of file diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp new file mode 100644 index 00000000..76d0ffd0 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_climber_controller.cpp @@ -0,0 +1,481 @@ +#include "controller/pid/matrix_pid_calculator.hpp" +#include "rmcs_msgs/keyboard.hpp" +#include "rmcs_msgs/switch.hpp" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace rmcs_core::controller::chassis { + +enum class AutoClimbState { IDLE, APPROACH, SUPPORT_DEPLOY, DASH, SUPPORT_RETRACT }; + +class ChassisClimberController + : public rmcs_executor::Component + , public rclcpp::Node { +public: + ChassisClimberController() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) + , logger_(get_logger()) + , front_velocity_pid_calculator_( + get_parameter("front_kp").as_double(), get_parameter("front_ki").as_double(), + get_parameter("front_kd").as_double()) + , back_velocity_pid_calculator_( + get_parameter("back_kp").as_double(), get_parameter("back_ki").as_double(), + get_parameter("back_kd").as_double()) { + + track_velocity_max_ = get_parameter("front_climber_velocity").as_double(); + climber_back_control_velocity_abs_ = get_parameter("back_climber_velocity").as_double(); + auto_climb_dash_velocity_ = get_parameter("auto_climb_dash_velocity").as_double(); + auto_climb_support_retract_velocity_abs_ = + get_parameter("auto_climb_support_retract_velocity").as_double(); + sync_coefficient_ = get_parameter("sync_coefficient").as_double(); + climb_timeout_limit_ = get_parameter("climb_timeout_limit").as_int(); + first_stair_approach_pitch_ = get_parameter("first_stair_approach_pitch").as_double(); + second_stair_approach_pitch_ = get_parameter("second_stair_approach_pitch").as_double(); + + burst_velocity_abs_ = get_parameter("back_climber_burst_velocity").as_double(); + burst_duration_ = get_parameter("back_climber_burst_duration").as_int(); + + back_climber_block_count_ = 0; + back_climber_timer_ = 0; + + register_output( + "/chassis/climber/left_front_motor/control_torque", climber_front_left_control_torque_, + nan_); + register_output( + "/chassis/climber/right_front_motor/control_torque", + climber_front_right_control_torque_, nan_); + register_output( + "/chassis/climber/left_back_motor/control_torque", climber_back_left_control_torque_, + nan_); + register_output( + "/chassis/climber/right_back_motor/control_torque", climber_back_right_control_torque_, + nan_); + register_output("/chassis/climbing_forward_velocity", climbing_forward_velocity_, nan_); + + register_input("/chassis/climber/left_front_motor/velocity", climber_front_left_velocity_); + register_input( + "/chassis/climber/right_front_motor/velocity", climber_front_right_velocity_); + register_input("/chassis/climber/left_back_motor/velocity", climber_back_left_velocity_); + register_input("/chassis/climber/right_back_motor/velocity", climber_back_right_velocity_); + + register_input("/chassis/climber/left_back_motor/torque", climber_back_left_torque_); + register_input("/chassis/climber/right_back_motor/torque", climber_back_right_torque_); + + register_input("/remote/switch/right", switch_right_); + register_input("/remote/switch/left", switch_left_); + register_input("/remote/joystick/right", joystick_right_); + register_input("/remote/keyboard", keyboard_); + register_input("/remote/rotary_knob_switch", rotary_knob_switch_); + register_input("/chassis/pitch_imu", chassis_pitch_imu_); + } + + void update() override { + using namespace rmcs_msgs; + + auto switch_right = *switch_right_; + auto switch_left = *switch_left_; + auto keyboard = *keyboard_; + auto rotary_knob_switch = *rotary_knob_switch_; + + // RCLCPP_INFO(logger_, "%lf", *chassis_pitch_imu_); + + bool rotary_knob_to_up = + (last_rotary_knob_switch_ != Switch::UP && rotary_knob_switch == Switch::UP); + bool rotary_knob_from_up = + (last_rotary_knob_switch_ == Switch::UP && rotary_knob_switch != Switch::UP); + + if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) + || (switch_left == Switch::DOWN && switch_right == Switch::DOWN)) { + reset_all_controls(); + } else { + handle_auto_climb_requests( + (!last_keyboard_.g && keyboard.g) || rotary_knob_to_up, rotary_knob_from_up, + rotary_knob_switch); + + if (auto_climb_state_ != AutoClimbState::IDLE) { + apply_auto_climb_control(update_auto_climb_control()); + } else if (switch_left != Switch::DOWN) { + update_manual_control(); + } + } + + last_switch_left_ = switch_left; + last_switch_right_ = switch_right; + last_keyboard_ = keyboard; + last_rotary_knob_switch_ = rotary_knob_switch; + } + +private: + struct AutoClimbControl { + double front_track_velocity = 0.0; + double back_climber_velocity = 0.0; + double override_chassis_vx = nan_; + }; + + void handle_auto_climb_requests( + bool start_requested, bool abort_by_rotary, rmcs_msgs::Switch rotary_knob_switch) { + + if (start_requested) { + if (auto_climb_state_ == AutoClimbState::IDLE) { + start_auto_climb( + rotary_knob_switch == rmcs_msgs::Switch::UP ? "Rotary Knob" : "Keyboard G"); + } else { + abort_auto_climb("toggled again"); + } + } else if (abort_by_rotary && auto_climb_state_ != AutoClimbState::IDLE) { + abort_auto_climb("rotary knob left UP"); + } + } + + void start_auto_climb(const char* source) { + auto_climb_continue_ = true; + auto_climb_stair_index_ = 0; + auto_climb_support_block_count_ = 0; + enter_auto_climb_state(AutoClimbState::APPROACH); + + RCLCPP_INFO(logger_, "Auto climb started by %s.", source); + } + + void abort_auto_climb(const char* reason) { + reset_all_controls(); + RCLCPP_INFO(logger_, "Auto climb aborted (%s).", reason); + } + + AutoClimbControl update_auto_climb_control() { + auto_climb_timer_++; + + switch (auto_climb_state_) { + case AutoClimbState::IDLE: return {}; + case AutoClimbState::APPROACH: return update_auto_climb_approach(); + case AutoClimbState::SUPPORT_DEPLOY: return update_auto_climb_support_deploy(); + case AutoClimbState::DASH: return update_auto_climb_dash(); + case AutoClimbState::SUPPORT_RETRACT: return update_auto_climb_support_retract(); + } + + return {}; + } + + AutoClimbControl update_auto_climb_approach() { + AutoClimbControl control{ + .front_track_velocity = track_velocity_max_, + .back_climber_velocity = 0.0, + .override_chassis_vx = kAutoClimbApproachVelocity, + }; + + double pitch = *chassis_pitch_imu_; + double target_pitch = auto_climb_stair_index_ == 0 ? first_stair_approach_pitch_ + : second_stair_approach_pitch_; + + RCLCPP_INFO_THROTTLE( + logger_, *get_clock(), 500, "APPROACH (step %d): pitch=%.3f, target>%.3f", + auto_climb_stair_index_ + 1, pitch, target_pitch); + + if (pitch > target_pitch) { + enter_auto_climb_state(AutoClimbState::SUPPORT_DEPLOY); + RCLCPP_INFO( + logger_, "Auto climb entering SUPPORT_DEPLOY (step %d).", + auto_climb_stair_index_ + 1); + } + + return control; + } + + AutoClimbControl update_auto_climb_support_deploy() { + AutoClimbControl control{ + .front_track_velocity = 0.0, + .back_climber_velocity = climber_back_control_velocity_abs_, + .override_chassis_vx = 0.2, + }; + + if (is_back_climber_blocked()) { + auto_climb_support_block_count_++; + } else { + auto_climb_support_block_count_ = 0; + } + + RCLCPP_INFO_THROTTLE( + logger_, *get_clock(), 500, "SUPPORT_DEPLOY (step %d): blocked_ticks=%d", + auto_climb_stair_index_ + 1, auto_climb_support_block_count_); + + if (auto_climb_support_block_count_ >= kAutoClimbSupportConfirmTicks) { + enter_auto_climb_state(AutoClimbState::DASH); + RCLCPP_INFO( + logger_, "Auto climb entering DASH (step %d).", auto_climb_stair_index_ + 1); + } + + return control; + } + + AutoClimbControl update_auto_climb_dash() { + AutoClimbControl control{ + .front_track_velocity = track_velocity_max_, + .back_climber_velocity = climber_back_control_velocity_abs_, + .override_chassis_vx = auto_climb_dash_velocity_, + }; + + double pitch = *chassis_pitch_imu_; + bool is_leveled = std::abs(pitch) < kAutoClimbLeveledPitchThreshold + && auto_climb_timer_ > kAutoClimbDashMinTicks; + bool timeout = auto_climb_timer_ > kAutoClimbDashTimeoutTicks; + + RCLCPP_INFO_THROTTLE( + logger_, *get_clock(), 500, "DASH (step %d): pitch=%.3f, timer=%d", + auto_climb_stair_index_ + 1, pitch, auto_climb_timer_); + + if (is_leveled || timeout) { + enter_auto_climb_state(AutoClimbState::SUPPORT_RETRACT); + + if (timeout) { + RCLCPP_WARN( + logger_, "Auto climb DASH timeout on step %d. Entering SUPPORT_RETRACT.", + auto_climb_stair_index_ + 1); + } else { + RCLCPP_INFO( + logger_, "Auto climb reached platform on step %d.", + auto_climb_stair_index_ + 1); + } + } + + return control; + } + + AutoClimbControl update_auto_climb_support_retract() { + AutoClimbControl control{ + .front_track_velocity = track_velocity_max_, + .back_climber_velocity = -auto_climb_support_retract_velocity_abs_, + .override_chassis_vx = auto_climb_dash_velocity_, + }; + + RCLCPP_INFO_THROTTLE( + logger_, *get_clock(), 500, "SUPPORT_RETRACT (step %d): timer=%d", + auto_climb_stair_index_ + 1, auto_climb_timer_); + + if (auto_climb_timer_ > kAutoClimbSupportRetractTicks) { + bool has_next_stair = + auto_climb_continue_ && (auto_climb_stair_index_ + 1 < kAutoClimbMaxStairs); + + if (has_next_stair) { + auto_climb_stair_index_++; + enter_auto_climb_state(AutoClimbState::APPROACH); + RCLCPP_INFO( + logger_, "Auto climb continuing to step %d.", auto_climb_stair_index_ + 1); + } else { + int finished_steps = auto_climb_stair_index_ + 1; + stop_auto_climb(); + RCLCPP_INFO(logger_, "Auto climb completed (finished %d steps).", finished_steps); + } + } + + return control; + } + + void apply_auto_climb_control(const AutoClimbControl& control) { + *climbing_forward_velocity_ = control.override_chassis_vx; + + dual_motor_sync_control( + control.front_track_velocity, *climber_front_left_velocity_, + *climber_front_right_velocity_, front_velocity_pid_calculator_, + *climber_front_left_control_torque_, *climber_front_right_control_torque_); + + dual_motor_sync_control( + control.back_climber_velocity, *climber_back_left_velocity_, + *climber_back_right_velocity_, back_velocity_pid_calculator_, + *climber_back_left_control_torque_, *climber_back_right_control_torque_); + } + + void update_manual_control() { + *climbing_forward_velocity_ = nan_; + + // if (last_switch_right_ == Switch::MIDDLE && switch_right == Switch::UP) { + // front_climber_enable_ = !front_climber_enable_; + // } else if (last_switch_right_ == Switch::MIDDLE && switch_right == Switch::DOWN) { + // back_climber_dir_ = -1 * back_climber_dir_; + // reset_back_safety_counters(); + // } + + double track_control_velocity = + front_climber_enable_ ? joystick_right_->x() * track_velocity_max_ : nan_; + + dual_motor_sync_control( + track_control_velocity, *climber_front_left_velocity_, *climber_front_right_velocity_, + front_velocity_pid_calculator_, *climber_front_left_control_torque_, + *climber_front_right_control_torque_); + + double back_climber_control_velocity = 0.0; + back_climber_timer_++; + bool force_zero_torque = false; + + if (is_back_climber_blocked()) { + back_climber_block_count_++; + } + + if (back_climber_dir_ == -1) { + if (back_climber_timer_ < burst_duration_) { + back_climber_control_velocity = burst_velocity_abs_ * back_climber_dir_; + } else { + force_zero_torque = true; + } + } else { + back_climber_control_velocity = climber_back_control_velocity_abs_ * back_climber_dir_; + } + + if (!force_zero_torque) { + if (back_climber_block_count_ >= 500) { + RCLCPP_WARN_THROTTLE(logger_, *get_clock(), 1000, "Back climber STALLED."); + back_climber_control_velocity = 0.0; + } else if (back_climber_timer_ >= climb_timeout_limit_) { + RCLCPP_WARN_THROTTLE(logger_, *get_clock(), 1000, "Back climber TIMEOUT."); + back_climber_control_velocity = 0.0; + } + + dual_motor_sync_control( + back_climber_control_velocity, *climber_back_left_velocity_, + *climber_back_right_velocity_, back_velocity_pid_calculator_, + *climber_back_left_control_torque_, *climber_back_right_control_torque_); + } else { + *climber_back_left_control_torque_ = 0.0; + *climber_back_right_control_torque_ = 0.0; + } + } + + void reset_all_controls() { + *climber_front_left_control_torque_ = 0; + *climber_front_right_control_torque_ = 0; + *climber_back_left_control_torque_ = 0; + *climber_back_right_control_torque_ = 0; + front_climber_enable_ = false; + *climbing_forward_velocity_ = nan_; + stop_auto_climb(); + reset_back_safety_counters(); + } + + void stop_auto_climb() { + auto_climb_state_ = AutoClimbState::IDLE; + auto_climb_timer_ = 0; + auto_climb_stair_index_ = 0; + auto_climb_continue_ = false; + auto_climb_support_block_count_ = 0; + } + + void enter_auto_climb_state(AutoClimbState state) { + auto_climb_state_ = state; + auto_climb_timer_ = 0; + auto_climb_support_block_count_ = 0; + } + + void reset_back_safety_counters() { + back_climber_block_count_ = 0; + back_climber_timer_ = 0; + } + + bool is_back_climber_blocked() const { + return (std::abs(*climber_back_left_torque_) > kBackClimberBlockedTorqueThreshold + && std::abs(*climber_back_left_velocity_) < kBackClimberBlockedVelocityThreshold) + || (std::abs(*climber_back_right_torque_) > kBackClimberBlockedTorqueThreshold + && std::abs(*climber_back_right_velocity_) < kBackClimberBlockedVelocityThreshold); + } + + void dual_motor_sync_control( + double setpoint, double left_velocity, double right_velocity, + pid::MatrixPidCalculator<2>& pid_calculator, double& left_torque_out, + double& right_torque_out) { + + if (std::isnan(setpoint)) { + left_torque_out = nan_; + right_torque_out = nan_; + return; + } + + Eigen::Vector2d setpoint_error{setpoint - left_velocity, setpoint - right_velocity}; + Eigen::Vector2d relative_velocity{ + left_velocity - right_velocity, right_velocity - left_velocity}; + + Eigen::Vector2d control_error = setpoint_error - sync_coefficient_ * relative_velocity; + auto control_torques = pid_calculator.update(control_error); + + left_torque_out = control_torques[0]; + right_torque_out = control_torques[1]; + } + + int back_climber_block_count_; + int back_climber_timer_; + + rclcpp::Logger logger_; + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); + static constexpr double kAutoClimbApproachVelocity = 1.0; + static constexpr double kAutoClimbLeveledPitchThreshold = 0.1; + static constexpr double kBackClimberBlockedTorqueThreshold = 0.1; + static constexpr double kBackClimberBlockedVelocityThreshold = 0.1; + static constexpr int kAutoClimbSupportConfirmTicks = 50; + static constexpr int kAutoClimbDashMinTicks = 500; + static constexpr int kAutoClimbDashTimeoutTicks = 3000; + static constexpr int kAutoClimbSupportRetractTicks = 1000; + static constexpr int kAutoClimbMaxStairs = 2; + + double sync_coefficient_; + int64_t climb_timeout_limit_; + double first_stair_approach_pitch_; + double second_stair_approach_pitch_; + + double burst_velocity_abs_; + int64_t burst_duration_; + + bool front_climber_enable_ = false; + double back_climber_dir_ = -1; + + double track_velocity_max_; + double climber_back_control_velocity_abs_; + double auto_climb_dash_velocity_; + double auto_climb_support_retract_velocity_abs_; + + AutoClimbState auto_climb_state_ = AutoClimbState::IDLE; + int auto_climb_timer_ = 0; + int auto_climb_stair_index_ = 0; + int auto_climb_support_block_count_ = 0; + bool auto_climb_continue_ = false; + + OutputInterface climber_front_left_control_torque_; + OutputInterface climber_front_right_control_torque_; + OutputInterface climber_back_left_control_torque_; + OutputInterface climber_back_right_control_torque_; + OutputInterface climbing_forward_velocity_; + + InputInterface climber_front_left_velocity_; + InputInterface climber_front_right_velocity_; + InputInterface climber_back_left_velocity_; + InputInterface climber_back_right_velocity_; + + InputInterface climber_back_left_torque_; + InputInterface climber_back_right_torque_; + + InputInterface switch_right_; + InputInterface switch_left_; + InputInterface joystick_right_; + InputInterface keyboard_; + InputInterface rotary_knob_switch_; + + InputInterface chassis_pitch_imu_; + + rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Switch last_rotary_knob_switch_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + + pid::MatrixPidCalculator<2> front_velocity_pid_calculator_, back_velocity_pid_calculator_; +}; +} // namespace rmcs_core::controller::chassis + +#include + +PLUGINLIB_EXPORT_CLASS( + rmcs_core::controller::chassis::ChassisClimberController, rmcs_executor::Component) diff --git a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp index da70a96f..af18ba43 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/chassis/chassis_controller.cpp @@ -19,7 +19,7 @@ class ChassisController : Node( get_component_name(), rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) - , following_velocity_controller_(7.0, 0.0, 0.0) { + , following_velocity_controller_(10.0, 0.0, 1.2) { following_velocity_controller_.output_max = angular_velocity_max; following_velocity_controller_.output_min = -angular_velocity_max; @@ -34,6 +34,7 @@ class ChassisController register_input("/gimbal/yaw/angle", gimbal_yaw_angle_, false); register_input("/gimbal/yaw/control_angle_error", gimbal_yaw_angle_error_, false); + register_input("/chassis/climbing_forward_velocity", climbing_forward_velocity_, nan); register_output("/chassis/angle", chassis_angle_, nan); register_output("/chassis/control_angle", chassis_control_angle_, nan); @@ -58,8 +59,8 @@ class ChassisController using namespace rmcs_msgs; auto switch_right = *switch_right_; - auto switch_left = *switch_left_; - auto keyboard = *keyboard_; + auto switch_left = *switch_left_; + auto keyboard = *keyboard_; do { if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) @@ -74,14 +75,14 @@ class ChassisController if (mode == rmcs_msgs::ChassisMode::SPIN) { mode = rmcs_msgs::ChassisMode::STEP_DOWN; } else { - mode = rmcs_msgs::ChassisMode::SPIN; + mode = rmcs_msgs::ChassisMode::SPIN; spinning_forward_ = !spinning_forward_; } } else if (!last_keyboard_.c && keyboard.c) { if (mode == rmcs_msgs::ChassisMode::SPIN) { mode = rmcs_msgs::ChassisMode::AUTO; } else { - mode = rmcs_msgs::ChassisMode::SPIN; + mode = rmcs_msgs::ChassisMode::SPIN; spinning_forward_ = !spinning_forward_; } } else if (!last_keyboard_.x && keyboard.x) { @@ -100,8 +101,8 @@ class ChassisController } while (false); last_switch_right_ = switch_right; - last_switch_left_ = switch_left; - last_keyboard_ = keyboard; + last_switch_left_ = switch_left; + last_keyboard_ = keyboard; } void reset_all_controls() { @@ -112,12 +113,16 @@ class ChassisController void update_velocity_control() { auto translational_velocity = update_translational_velocity_control(); - auto angular_velocity = update_angular_velocity_control(); + auto angular_velocity = update_angular_velocity_control(); chassis_control_velocity_->vector << translational_velocity, angular_velocity; } Eigen::Vector2d update_translational_velocity_control() { + if (!std::isnan(*climbing_forward_velocity_)) { + return Eigen::Vector2d{*climbing_forward_velocity_, 0.0}; + } + auto keyboard = *keyboard_; Eigen::Vector2d keyboard_move{keyboard.w - keyboard.s, keyboard.a - keyboard.d}; @@ -133,7 +138,13 @@ class ChassisController } double update_angular_velocity_control() { - double angular_velocity = 0.0; + if (!std::isnan(*climbing_forward_velocity_)) { + *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; + *chassis_control_angle_ = nan; + return 0.0; + } + + double angular_velocity = 0.0; double chassis_control_angle = nan; switch (*mode_) { @@ -171,7 +182,7 @@ class ChassisController angular_velocity = following_velocity_controller_.update(err); } break; } - *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; + *chassis_angle_ = 2 * std::numbers::pi - *gimbal_yaw_angle_; *chassis_control_angle_ = chassis_control_angle; return angular_velocity; @@ -202,7 +213,7 @@ class ChassisController // Maximum control velocities static constexpr double translational_velocity_max = 10.0; - static constexpr double angular_velocity_max = 16.0; + static constexpr double angular_velocity_max = 16.0; InputInterface joystick_right_; InputInterface joystick_left_; @@ -214,10 +225,11 @@ class ChassisController InputInterface rotary_knob_; rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); InputInterface gimbal_yaw_angle_, gimbal_yaw_angle_error_; + InputInterface climbing_forward_velocity_; OutputInterface chassis_angle_, chassis_control_angle_; OutputInterface mode_; diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp index 80d7a72e..20c09236 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/dual_yaw_controller.cpp @@ -45,9 +45,6 @@ class DualYawController register_output("/gimbal/top_yaw/control_torque", top_yaw_control_torque_, 0.0); register_output("/gimbal/bottom_yaw/control_torque", bottom_yaw_control_torque_, 0.0); - register_output("/gimbal/top_yaw/control_angle", top_yaw_control_torque_, 0.0); - register_output("/gimbal/bottom_yaw/control_angle_shift", bottom_yaw_control_torque_, 0.0); - status_component_ = create_partner_component(get_component_name() + "_status"); } diff --git a/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp index f20bd98f..1c6dde8b 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/gimbal/hero_gimbal_controller.cpp @@ -65,8 +65,9 @@ class HeroGimbalController else gimbal_mode_keyboard_ = GimbalMode::IMU; } - *gimbal_mode_ = - *switch_right_ == Switch::UP ? GimbalMode::ENCODER : gimbal_mode_keyboard_; + // *gimbal_mode_ = + // *switch_right_ == Switch::UP ? GimbalMode::ENCODER : gimbal_mode_keyboard_; + *gimbal_mode_ = gimbal_mode_keyboard_; if (*gimbal_mode_ == GimbalMode::IMU) { auto angle_error = update_imu_control(); diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_42mm.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_42mm.cpp index bf3076e3..95d75cb9 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_42mm.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/bullet_feeder_controller_42mm.cpp @@ -31,14 +31,15 @@ class BulletFeederController42mm register_input( "/gimbal/control_bullet_allowance/limited_by_heat", control_bullet_allowance_limited_by_heat_); + register_input("/gimbal/bullet_fired", bullet_fired_); - bullet_feeder_velocity_pid_.kp = 50.0; - bullet_feeder_velocity_pid_.ki = 10.0; - bullet_feeder_velocity_pid_.kd = 0.0; + bullet_feeder_velocity_pid_.kp = 50.0; + bullet_feeder_velocity_pid_.ki = 10.0; + bullet_feeder_velocity_pid_.kd = 0.0; bullet_feeder_velocity_pid_.integral_max = 60.0; bullet_feeder_velocity_pid_.integral_min = 0.0; - bullet_feeder_angle_pid_.kp = 50.0; + bullet_feeder_angle_pid_.kp = 60.0; bullet_feeder_angle_pid_.ki = 0.0; bullet_feeder_angle_pid_.kd = 2.0; @@ -51,9 +52,9 @@ class BulletFeederController42mm void update() override { const auto switch_right = *switch_right_; - const auto switch_left = *switch_left_; - const auto mouse = *mouse_; - const auto keyboard = *keyboard_; + const auto switch_left = *switch_left_; + const auto mouse = *mouse_; + const auto keyboard = *keyboard_; using namespace rmcs_msgs; if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) @@ -61,7 +62,6 @@ class BulletFeederController42mm reset_all_controls(); return; } - overdrive_mode_ = keyboard.f; if (keyboard.ctrl && !last_keyboard_.r && keyboard.r) low_latency_mode_ = !low_latency_mode_; @@ -84,8 +84,8 @@ class BulletFeederController42mm } else { if (!*friction_ready_ || std::isnan(bullet_feeder_control_angle_)) { bullet_feeder_control_angle_ = *bullet_feeder_angle_; - shoot_stage_ = ShootStage::PRELOADED; - bullet_fed_count_ = static_cast( + shoot_stage_ = ShootStage::PRELOADED; + bullet_fed_count_ = static_cast( (*bullet_feeder_angle_ - bullet_feeder_compressed_zero_point_ - 0.1) / bullet_feeder_angle_per_bullet_); } @@ -135,24 +135,24 @@ class BulletFeederController42mm } last_switch_right_ = switch_right; - last_switch_left_ = switch_left; - last_mouse_ = mouse; - last_keyboard_ = keyboard; + last_switch_left_ = switch_left; + last_mouse_ = mouse; + last_keyboard_ = keyboard; } private: void reset_all_controls() { last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; - last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; - last_mouse_ = rmcs_msgs::Mouse::zero(); - last_keyboard_ = rmcs_msgs::Keyboard::zero(); + last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + last_mouse_ = rmcs_msgs::Mouse::zero(); + last_keyboard_ = rmcs_msgs::Keyboard::zero(); overdrive_mode_ = low_latency_mode_ = false; - shoot_stage_ = ShootStage::PRELOADED; + shoot_stage_ = ShootStage::PRELOADED; bullet_fed_count_ = std::numeric_limits::min(); - bullet_feeder_control_angle_ = nan_; + bullet_feeder_control_angle_ = nan_; bullet_feeder_angle_pid_.output_max = inf_; bullet_feeder_velocity_pid_.reset(); @@ -160,13 +160,13 @@ class BulletFeederController42mm *bullet_feeder_control_torque_ = nan_; bullet_feeder_faulty_count_ = 0; - bullet_feeder_cool_down_ = 0; + bullet_feeder_cool_down_ = 0; } void set_preloading() { RCLCPP_INFO(get_logger(), "PRELOADING"); bullet_fed_count_++; - shoot_stage_ = ShootStage::PRELOADING; + shoot_stage_ = ShootStage::PRELOADING; bullet_feeder_control_angle_ = bullet_feeder_compressed_zero_point_ + (bullet_fed_count_ + 0.5) * bullet_feeder_angle_per_bullet_; bullet_feeder_angle_pid_.output_max = 1.0; @@ -179,7 +179,7 @@ class BulletFeederController42mm void set_compressing() { RCLCPP_INFO(get_logger(), "COMPRESSING"); - shoot_stage_ = ShootStage::COMPRESSING; + shoot_stage_ = ShootStage::COMPRESSING; bullet_feeder_control_angle_ = bullet_feeder_compressed_zero_point_ + (bullet_fed_count_ + 1) * bullet_feeder_angle_per_bullet_; bullet_feeder_angle_pid_.output_max = 0.8; @@ -192,7 +192,7 @@ class BulletFeederController42mm void set_shooting() { RCLCPP_INFO(get_logger(), "SHOOTING"); - shoot_stage_ = ShootStage::SHOOTING; + shoot_stage_ = ShootStage::SHOOTING; bullet_feeder_control_angle_ = bullet_feeder_compressed_zero_point_ + (bullet_fed_count_ + 1.2) * bullet_feeder_angle_per_bullet_; bullet_feeder_angle_pid_.output_max = 1.0; @@ -215,7 +215,7 @@ class BulletFeederController42mm void enter_jam_protection() { bullet_feeder_control_angle_ = nan_; - bullet_feeder_cool_down_ = 1000; + bullet_feeder_cool_down_ = 1000; bullet_feeder_angle_pid_.reset(); bullet_feeder_velocity_pid_.reset(); RCLCPP_INFO(get_logger(), "Jammed!"); @@ -225,9 +225,10 @@ class BulletFeederController42mm static constexpr double inf_ = std::numeric_limits::infinity(); static constexpr double bullet_feeder_compressed_zero_point_ = 0.58; - static constexpr double bullet_feeder_angle_per_bullet_ = 2 * std::numbers::pi / 6; + static constexpr double bullet_feeder_angle_per_bullet_ = 2 * std::numbers::pi / 6; InputInterface friction_ready_; + InputInterface bullet_fired_; InputInterface switch_right_; InputInterface switch_left_; @@ -235,9 +236,9 @@ class BulletFeederController42mm InputInterface keyboard_; rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; - rmcs_msgs::Mouse last_mouse_ = rmcs_msgs::Mouse::zero(); - rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Mouse last_mouse_ = rmcs_msgs::Mouse::zero(); + rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); bool overdrive_mode_ = false, low_latency_mode_ = false; @@ -247,8 +248,8 @@ class BulletFeederController42mm InputInterface control_bullet_allowance_limited_by_heat_; enum class ShootStage { PRELOADING, PRELOADED, COMPRESSING, COMPRESSED, SHOOTING }; - ShootStage shoot_stage_ = ShootStage::PRELOADED; - int bullet_fed_count_ = std::numeric_limits::min(); + ShootStage shoot_stage_ = ShootStage::PRELOADED; + int bullet_fed_count_ = std::numeric_limits::min(); double bullet_feeder_control_angle_ = nan_; pid::PidCalculator bullet_feeder_velocity_pid_; @@ -256,7 +257,7 @@ class BulletFeederController42mm OutputInterface bullet_feeder_control_torque_; int bullet_feeder_faulty_count_ = 0; - int bullet_feeder_cool_down_ = 0; + int bullet_feeder_cool_down_ = 0; OutputInterface shoot_mode_; }; diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp index a83dc5f4..e38437a4 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/friction_wheel_controller.cpp @@ -150,8 +150,8 @@ class FrictionWheelController bool detect_friction_faulty() { for (size_t i = 0; i < friction_count_; i++) { - if (*friction_velocities_[i] < *friction_control_velocities_[i] * 0.5) - return true; + if (abs(*friction_velocities_[i]) < abs(*friction_control_velocities_[i] * 0.5)) + return false; } return false; } diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp new file mode 100644 index 00000000..fbf85761 --- /dev/null +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/putter_controller.cpp @@ -0,0 +1,380 @@ +#include +#include +#include +#include +#include +#include + +#include "controller/pid/pid_calculator.hpp" + +namespace rmcs_core::controller::shooting { + +/** + * @class PutterController + * @brief 推弹机构控制器 + * + * 发射机制说明： + * 由于光电门放置于弹舱口，经测试，双中先触发推杆向后复位，然后堵转检测复位完毕， + * 默认情况下会给一点点的力保证推杆不会滑下去，再然后上弹采用速度环，在光电门被触发时 + * 记录角度并转为角度环，然后推杆检测发弹根据两部分来检测，一是摩擦轮，二是推杆的行程 + * 整套方案以于暑假前完成压力测试 + */ +class PutterController + : public rmcs_executor::Component + , public rclcpp::Node { +public: + PutterController() + : Node( + get_component_name(), + rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)) { + + register_input("/remote/switch/right", switch_right_); + register_input("/remote/switch/left", switch_left_); + register_input("/remote/mouse", mouse_); + register_input("/remote/keyboard", keyboard_); + + register_input("/gimbal/friction_ready", friction_ready_); + + register_input("/gimbal/bullet_feeder/angle", bullet_feeder_angle_); + register_input("/gimbal/bullet_feeder/velocity", bullet_feeder_velocity_); + + register_input( + "/gimbal/control_bullet_allowance/limited_by_heat", + control_bullet_allowance_limited_by_heat_); + + register_input("/gimbal/photoelectric_sensor", photoelectric_sensor_status_); + register_input("/gimbal/bullet_fired", bullet_fired_); + + register_input("/gimbal/putter/angle", putter_angle_); + register_input("/gimbal/putter/velocity", putter_velocity_); + + last_preload_flag_ = false; + + bullet_feeder_velocity_pid_.kp = 50.0; + bullet_feeder_velocity_pid_.ki = 10.0; + bullet_feeder_velocity_pid_.kd = 0.0; + bullet_feeder_velocity_pid_.integral_max = 60.0; + bullet_feeder_velocity_pid_.integral_min = 0.0; + + bullet_feeder_angle_pid_.kp = 8.0; + bullet_feeder_angle_pid_.ki = 0.0; + bullet_feeder_angle_pid_.kd = 2.0; + + putter_return_velocity_pid_.kp = 0.0015; + putter_return_velocity_pid_.ki = 0.00005; + putter_return_velocity_pid_.kd = 0.; + putter_return_velocity_pid_.integral_max = 0.; + putter_return_velocity_pid_.integral_min = -0.03; + + putter_velocity_pid_.kp = 0.004; + putter_velocity_pid_.ki = 0.0001; + putter_velocity_pid_.kd = 0.001; + putter_velocity_pid_.integral_max = 0.03; + putter_velocity_pid_.integral_min = 0.; + + putter_return_angle_pid.kp = 0.0001; + // putter_return_angle_pid.ki = 0.000001; + putter_return_angle_pid.kd = 0.; + + register_output( + "/gimbal/bullet_feeder/control_torque", bullet_feeder_control_torque_, nan_); + register_output("/gimbal/putter/control_torque", putter_control_torque_, nan_); + + register_output("/gimbal/shooter/mode", shoot_mode_, rmcs_msgs::ShootMode::SINGLE); + } + + void update() override { + const auto switch_right = *switch_right_; + const auto switch_left = *switch_left_; + const auto mouse = *mouse_; + const auto keyboard = *keyboard_; + + using namespace rmcs_msgs; + + if ((switch_left == Switch::UNKNOWN || switch_right == Switch::UNKNOWN) + || (switch_left == Switch::DOWN && switch_right == Switch::DOWN)) { + reset_all_controls(); + return; + } + + // 推杆已初始化后的正常控制流程 + if (putter_initialized) { + // 供弹轮卡弹保护冷却期间的处理 + if (bullet_feeder_cool_down_ > 0) { + bullet_feeder_cool_down_--; + + // 使用角度环反转到“后退一格”的位置以解除卡弹 + double velocity_err = + bullet_feeder_angle_pid_.update( + bullet_feeder_control_angle_ - *bullet_feeder_angle_) + - *bullet_feeder_velocity_; + *bullet_feeder_control_torque_ = bullet_feeder_velocity_pid_.update(velocity_err); + + if (!bullet_feeder_cool_down_) { + RCLCPP_INFO(get_logger(), "Jamming Solved, Retrying..."); + set_preloading(); + } + } else { + // 正常运行模式：摩擦轮就绪时才允许发射 + if (*friction_ready_) { + // 发射触发检测 + // RCLCPP_INFO(get_logger(), "%.2f", *bullet_feeder_angle_); + // RCLCPP_INFO(get_logger(), "%.2f", *bullet_feeder_velocity_); + if (switch_right != Switch::DOWN) { + if ((!last_mouse_.left && mouse.left) + || (last_switch_left_ == rmcs_msgs::Switch::MIDDLE + && switch_left == rmcs_msgs::Switch::DOWN)) { + if ( + // *control_bullet_allowance_limited_by_heat_ > 0 && + shoot_stage_ == ShootStage::PRELOADED) + set_shooting(); + } + } + + if (shoot_stage_ == ShootStage::PRELOADING) { + // 盲拨模式：始终执行角度环定位 + if (std::isnan(bullet_feeder_control_angle_)) { + bullet_feeder_control_angle_ = + *bullet_feeder_angle_ + bullet_feeder_angle_per_bullet_; + last_preload_flag_ = true; + } + + const auto angle_err = bullet_feeder_control_angle_ - *bullet_feeder_angle_; + if (angle_err < 0.1) { + set_preloaded(); + } + double velocity_err = + bullet_feeder_angle_pid_.update(angle_err) - *bullet_feeder_velocity_; + *bullet_feeder_control_torque_ = + bullet_feeder_velocity_pid_.update(velocity_err); + + update_jam_detection(); + } else { + // 其他状态：角度环保持角度不变防止弹链退弹 + double velocity_err = + bullet_feeder_angle_pid_.update( + bullet_feeder_control_angle_ - *bullet_feeder_angle_) + - *bullet_feeder_velocity_; + *bullet_feeder_control_torque_ = + bullet_feeder_velocity_pid_.update(velocity_err); + } + + if (shoot_stage_ == ShootStage::SHOOTING) { + // 发射状态：检测子弹是否发出 + if (*bullet_fired_ + || *putter_angle_ - putter_startpoint >= putter_stroke_) { + shooted = true; + } + + update_putter_jam_detection(); + + if (shooted) { + // 子弹已发出：推杆复位 + const auto angle_err = putter_startpoint - *putter_angle_; + if (angle_err > -0.05) { + *putter_control_torque_ = 0.; + set_preloading(); + shooted = false; + } else { + *putter_control_torque_ = + putter_return_velocity_pid_.update(-80. - *putter_velocity_); + } + } else { + // 子弹未发出：继续推进 + *putter_control_torque_ = + putter_return_velocity_pid_.update(60. - *putter_velocity_); + } + } + } else { + // 摩擦轮未就绪：停止供弹轮 + *bullet_feeder_control_torque_ = 0.; + } + + // 非发射状态：推杆给少许力保持位置 + if (shoot_stage_ != ShootStage::SHOOTING) + *putter_control_torque_ = -0.02; + } + } else { + // 推杆未初始化：执行复位操作 + *putter_control_torque_ = putter_return_velocity_pid_.update(-80. - *putter_velocity_); + update_putter_jam_detection(); + } + + // 保存当前状态用于下次比较 + last_switch_right_ = switch_right; + last_switch_left_ = switch_left; + last_mouse_ = mouse; + last_keyboard_ = keyboard; + } + +private: + void reset_all_controls() { + last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + last_mouse_ = rmcs_msgs::Mouse::zero(); + last_keyboard_ = rmcs_msgs::Keyboard::zero(); + + overdrive_mode_ = false; + + bullet_feeder_control_angle_ = nan_; + bullet_feeder_angle_pid_.output_max = inf_; + bullet_feeder_velocity_pid_.reset(); + bullet_feeder_angle_pid_.reset(); + *bullet_feeder_control_torque_ = nan_; + + // shoot_stage_ = ShootStage::PRELOADING; + + putter_initialized = false; + putter_startpoint = nan_; + putter_return_velocity_pid_.reset(); + putter_velocity_pid_.reset(); + putter_return_angle_pid.reset(); + *putter_control_torque_ = nan_; + + last_preload_flag_ = false; + last_photoelectric_sensor_status_ = false; + + bullet_feeder_faulty_count_ = 0; + bullet_feeder_cool_down_ = 0; + } + + void set_preloading() { + RCLCPP_INFO(get_logger(), "PRELOADING"); + shoot_stage_ = ShootStage::PRELOADING; + // 盲拨方案：直接增加目标角度 + if (!std::isnan(bullet_feeder_control_angle_)) { + bullet_feeder_control_angle_ += bullet_feeder_angle_per_bullet_; + } + last_preload_flag_ = true; + } + + void set_preloaded() { + RCLCPP_INFO(get_logger(), "PRELOADED"); + shoot_stage_ = ShootStage::PRELOADED; + last_preload_flag_ = false; + bullet_feeder_control_angle_ = *bullet_feeder_angle_ - 0.3; + } + + void set_shooting() { + RCLCPP_INFO(get_logger(), "SHOOTING"); + shoot_stage_ = ShootStage::SHOOTING; + } + + void update_jam_detection() { + // RCLCPP_INFO(get_logger(), "%.2f --", *bullet_feeder_control_torque_); + if (*bullet_feeder_control_torque_ < 300.0 || std::isnan(*bullet_feeder_control_torque_)) { + bullet_feeder_faulty_count_ = 0; + return; + } + + // 扭矩持续过大时累计故障计数 + if (bullet_feeder_faulty_count_ < 1000) + bullet_feeder_faulty_count_++; + else { + bullet_feeder_faulty_count_ = 0; + RCLCPP_WARN(get_logger(), "Jam Detected! Reversing 60 degrees..."); + enter_jam_protection(); + } + } + + void update_putter_jam_detection() { + if ((*putter_control_torque_ > -0.03 && shoot_stage_ == ShootStage::PRELOADING) + || (*putter_control_torque_ < 0.05 && shoot_stage_ == ShootStage::SHOOTING) + || std::isnan(*putter_control_torque_)) { + putter_faulty_count_ = 0; + return; + } + + // 扭矩异常时累计故障计数 + if (putter_faulty_count_ < 500) + ++putter_faulty_count_; + else { + putter_faulty_count_ = 0; + if (shoot_stage_ != ShootStage::SHOOTING) { + // 非发射状态下检测到堵转：推杆已到位，设置为已初始化 + putter_initialized = true; + putter_startpoint = *putter_angle_; + } else { + // 发射状态下检测到堵转：认为子弹已发出 + shooted = true; + } + } + } + + void enter_jam_protection() { + // 设置目标角度为当前角度后退 60 度（一格） + bullet_feeder_control_angle_ = *bullet_feeder_angle_ - bullet_feeder_angle_per_bullet_; + bullet_feeder_cool_down_ = 1000; + bullet_feeder_angle_pid_.reset(); + bullet_feeder_velocity_pid_.reset(); + RCLCPP_INFO(get_logger(), "Jammed!"); + } + + static constexpr double nan_ = std::numeric_limits::quiet_NaN(); ///< 非数值常量 + static constexpr double inf_ = std::numeric_limits::infinity(); ///< 无穷大常量 + + static constexpr double low_latency_velocity_ = 5.0; ///< + // 低延迟预装弹速度 + + static constexpr double putter_stroke_ = 11.5; ///< 推杆行程长度 + + static constexpr double max_bullet_feeder_control_torque_ = 0.1; + static constexpr double bullet_feeder_angle_per_bullet_ = 2 * std::numbers::pi / 6; + + InputInterface photoelectric_sensor_status_; + bool last_photoelectric_sensor_status_; + InputInterface bullet_fired_; + bool shooted{false}; + + InputInterface friction_ready_; + + InputInterface switch_right_; + InputInterface switch_left_; + InputInterface mouse_; + InputInterface keyboard_; + + rmcs_msgs::Switch last_switch_right_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Switch last_switch_left_ = rmcs_msgs::Switch::UNKNOWN; + rmcs_msgs::Mouse last_mouse_ = rmcs_msgs::Mouse::zero(); + rmcs_msgs::Keyboard last_keyboard_ = rmcs_msgs::Keyboard::zero(); + + bool overdrive_mode_ = false; + + InputInterface bullet_feeder_angle_; + InputInterface bullet_feeder_velocity_; + + InputInterface control_bullet_allowance_limited_by_heat_; + + bool last_preload_flag_ = false; + + bool putter_initialized = false; + int putter_faulty_count_ = 0; + double putter_startpoint = nan_; + pid::PidCalculator putter_return_velocity_pid_; + InputInterface putter_velocity_; + + pid::PidCalculator putter_velocity_pid_; + + enum class ShootStage { PRELOADING, PRELOADED, SHOOTING }; + ShootStage shoot_stage_ = ShootStage::PRELOADING; + double bullet_feeder_control_angle_ = nan_; + + pid::PidCalculator bullet_feeder_velocity_pid_; + pid::PidCalculator bullet_feeder_angle_pid_; + OutputInterface bullet_feeder_control_torque_; + + InputInterface putter_angle_; + pid::PidCalculator putter_return_angle_pid; + OutputInterface putter_control_torque_; + + int bullet_feeder_faulty_count_ = 0; + int bullet_feeder_cool_down_ = 0; + + OutputInterface shoot_mode_; +}; + +} // namespace rmcs_core::controller::shooting + +#include + +PLUGINLIB_EXPORT_CLASS(rmcs_core::controller::shooting::PutterController, rmcs_executor::Component) \ No newline at end of file diff --git a/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp b/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp index 5500b15c..4394bb8b 100644 --- a/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp +++ b/rmcs_ws/src/rmcs_core/src/controller/shooting/shooting_recorder.cpp @@ -1,7 +1,10 @@ +#include +#include #include #include #include #include +#include namespace rmcs_core::controller::shooting { @@ -18,44 +21,71 @@ class ShootingRecorder log_mode_ = static_cast(get_parameter("log_mode").as_int()); + aim_velocity = get_parameter("aim_velocity").as_double(); + register_input("/referee/shooter/initial_speed", initial_speed_); register_input("/referee/shooter/shoot_timestamp", shoot_timestamp_); - register_input("/friction_wheels/temperature", fractional_temperature_); if (friction_wheel_count_ == 2) { - const auto topic = std::array{ - "/gimbal/left_friction/control_velocity", - "/gimbal/right_friction/control_velocity", - }; - for (int i = 0; i < 2; i++) - register_input(topic[i], friction_wheels_velocity_[i]); - } else if (friction_wheel_count_ == 4) { const auto topic = std::array{ "/gimbal/first_left_friction/control_velocity", "/gimbal/first_right_friction/control_velocity", - "/gimbal/second_left_friction/control_velocity", - "/gimbal/second_right_friction/control_velocity", }; - for (int i = 0; i < 4; i++) + for (int i = 0; i < 2; i++) register_input(topic[i], friction_wheels_velocity_[i]); + register_input("/gimbal/first_left_friction/velocity", friction_velocities_[0]); + register_input("/gimbal/first_right_friction/velocity", friction_velocities_[1]); } using namespace std::chrono; auto now = high_resolution_clock::now(); - auto ms = duration_cast(now.time_since_epoch()).count(); + auto ms = duration_cast(now.time_since_epoch()).count(); auto file = fmt::format("/robot_shoot/{}.log", ms); log_stream_.open(file); + + std::ofstream outFile("shoot_recorder"); + RCLCPP_INFO(get_logger(), "ShootingRecorder initialized, log file: %s", file.c_str()); } ~ShootingRecorder() { log_stream_.close(); } void update() override { + // if (*friction_velocities_[0] <= 366.0 && *friction_velocities_[1] <= 366.0) + // return; + // if (start_time_ == 0.0) { + // start_time_ = GetTime(); + // } + + // int flag = 0; + // if (GetTime() - start_time_ > 10.0) { + // if (flag == 0) { + // RCLCPP_INFO(get_logger(), "vv = %f", vv); + // flag = 1; + // } + // return; + // } + + // vv = std::max(vv, abs(*friction_velocities_[0] + *friction_velocities_[1])); + + // auto log_text = std::string{}; + // log_text = fmt::format( + // "{:.3f}, {:.3f}, {:.3f}", *friction_velocities_[0], *friction_velocities_[1], + // (*friction_velocities_[0] + *friction_velocities_[1])); + + // log_stream_ << log_text << std::endl; + // RCLCPP_INFO(get_logger(), "%s", log_text.c_str()); + + // std::ofstream outFile("shoot_recorder", std::ios::app); + // if (outFile.is_open()) { + // outFile << log_text << std::endl; + // outFile.close(); + // } switch (log_mode_) { case LogMode::TRIGGER: // It will be triggered by shooting action - if (*shoot_timestamp_ == last_shoot_timestamp_) + if (*shoot_timestamp_ == last_shoot_timestamp_ || v == *shoot_timestamp_) return; break; case LogMode::TIMING: @@ -64,38 +94,50 @@ class ShootingRecorder return; break; } + v = *shoot_timestamp_; + + static constexpr size_t max_velocities_size = 1000; + + velocities.push_back(*initial_speed_); + if (velocities.size() > max_velocities_size) { + velocities.erase(velocities.begin()); + } - auto log_text = std::string{}; + analysis3(); + + auto log_text = std::string{}; auto timestamp = timestamp_to_string(*shoot_timestamp_); if (friction_wheel_count_ == 2) { log_text = fmt::format( - "{},{},{},{},{}", timestamp, *initial_speed_, // - *friction_wheels_velocity_[0], *friction_wheels_velocity_[1], - *fractional_temperature_); - } else if (friction_wheel_count_ == 4) { - log_text = fmt::format( - "{},{},{},{},{},{},{}", timestamp, *initial_speed_, // - *friction_wheels_velocity_[0], *friction_wheels_velocity_[1], - *friction_wheels_velocity_[2], *friction_wheels_velocity_[3], - *fractional_temperature_); + "{},{},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f},{:.3f}", *initial_speed_, + (int)velocities.size(), // + velocity_, excellence_rate_, pass_rate_, range_, range2_, velocity_max, + velocity_min); } log_stream_ << log_text << std::endl; RCLCPP_INFO(get_logger(), "%s", log_text.c_str()); + log_velocity = fmt::format("{:.3f}", *initial_speed_); + std::ofstream outFile("shoot_recorder", std::ios::app); + if (outFile.is_open()) { + outFile << log_velocity << std::endl; + outFile.close(); + } + last_shoot_timestamp_ = *shoot_timestamp_; } private: /// @brief Component interface + std::array, 2> friction_velocities_; + InputInterface initial_speed_; InputInterface shoot_timestamp_; - InputInterface fractional_temperature_; - std::size_t friction_wheel_count_ = 2; - std::array, 4> friction_wheels_velocity_; + std::array, 2> friction_wheels_velocity_; /// @brief For log enum class LogMode { TRIGGER = 1, TIMING = 2 }; @@ -103,25 +145,149 @@ class ShootingRecorder double last_shoot_timestamp_ = 0; std::ofstream log_stream_; + std::string log_velocity; std::size_t log_count_ = 0; + std::vector velocities; + + double velocity_; + + double excellence_rate_; + double pass_rate_; + + double range_; + double range2_; + + double velocity_min; + double velocity_max; + + double v; + double aim_velocity; + private: static std::string timestamp_to_string(double timestamp) { - auto time = static_cast(timestamp); + auto time = static_cast(timestamp); auto local_time = std::localtime(&time); char buffer[100]; std::strftime(buffer, sizeof(buffer), "%Y-%m-%d %H:%M:%S", local_time); double fractional_seconds = timestamp - std::floor(timestamp); - int milliseconds = static_cast(fractional_seconds * 1000); + int milliseconds = static_cast(fractional_seconds * 1000); char result[150]; std::snprintf(result, sizeof(result), "%s.%03d", buffer, milliseconds); return result; } + void analysis1() { + double sum = 0.0; + for (const auto& v : velocities) { + sum += v; + } + velocity_ = sum / double(velocities.size()); + + sort(velocities.begin(), velocities.end()); + + range_ = velocities.back() - velocities.front(); + + if (velocities.size() >= 3) { + range2_ = velocities[int(velocities.size() - 2)] - velocities[1]; + } else { + range2_ = range_; + } + + velocity_max = velocities.back(); + velocity_min = velocities.front(); + + int excellence_count = 0; + int pass_count = 0; + for (int i = 0; i < int(velocities.size()); i++) { + if (velocities[i] >= velocity_ - 0.1 && velocities[i] <= velocity_ + 0.1) { + pass_count += 1; + } + if (velocities[i] >= velocity_ - 0.05 && velocities[i] <= velocity_ + 0.05) { + excellence_count += 1; + } + } + excellence_rate_ = double(excellence_count) / double(velocities.size()); + pass_rate_ = double(pass_count) / double(velocities.size()); + } + + void analysis2() { + double sum = 0.0; + for (const auto& v : velocities) { + sum += v; + } + + sort(velocities.begin(), velocities.end()); + + velocity_max = velocities.back(); + velocity_min = velocities.front(); + + int n_adjust = std::max(1, int((int)velocities.size() * 0.05)); + + for (int i = 0; i < n_adjust; i++) { + sum -= velocities[i]; + sum -= velocities[velocities.size() - 1 - i]; + } + + velocity_ = sum / double(velocities.size() - 2 * n_adjust); + + range_ = velocities.back() - velocities.front(); + range2_ = velocities[int(velocities.size() - 2)] - velocities[1]; + + int excellence_count = 0; + int pass_count = 0; + for (int i = 0; i < int(velocities.size()); i++) { + if (velocities[i] >= velocity_ - 0.1 && velocities[i] <= velocity_ + 0.1) { + pass_count += 1; + } + if (velocities[i] >= velocity_ - 0.05 && velocities[i] <= velocity_ + 0.05) { + excellence_count += 1; + } + } + excellence_rate_ = double(excellence_count) / double(velocities.size()); + pass_rate_ = double(pass_count) / double(velocities.size()); + } + + void analysis3() { + double sum = 0.0; + for (const auto& v : velocities) { + sum += v; + } + velocity_ = sum / double(velocities.size()); + + int excellence_count = 0; + int pass_count = 0; + + for (const auto& v : velocities) { + if (v >= aim_velocity - 0.05 && v <= aim_velocity + 0.05) { + excellence_count += 1; + } + if (v >= aim_velocity - 0.1 && v <= aim_velocity + 0.1) { + pass_count += 1; + } + } + excellence_rate_ = double(excellence_count) / double(velocities.size()); + pass_rate_ = double(pass_count) / double(velocities.size()); + + sort(velocities.begin(), velocities.end()); + velocity_max = velocities.back(); + velocity_min = velocities.front(); + + range_ = velocities.back() - velocities.front(); + range2_ = velocities[int(velocities.size() - 2)] - velocities[1]; + } + + static double GetTime() { + using namespace std::chrono; + static auto start = high_resolution_clock::now(); + auto now = high_resolution_clock::now(); + duration elapsed = now - start; + return elapsed.count(); + } }; } // namespace rmcs_core::controller::shooting diff --git a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp b/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp index d30c1ce0..847698c2 100644 --- a/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp +++ b/rmcs_ws/src/rmcs_core/src/hardware/steering-hero.cpp @@ -4,11 +4,11 @@ #include #include #include -#include #include #include #include +#include #include #include #include @@ -18,10 +18,8 @@ #include #include #include -#include #include -#include "hardware/device/benewake.hpp" #include "hardware/device/bmi088.hpp" #include "hardware/device/can_packet.hpp" #include "hardware/device/dji_motor.hpp" @@ -36,16 +34,14 @@ class SteeringHero , public rclcpp::Node { public: SteeringHero() - : Node{ + : Node( get_component_name(), - rclcpp::NodeOptions{}.automatically_declare_parameters_from_overrides(true)} + rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)) , command_component_( create_partner_component( get_component_name() + "_command", *this)) { register_output("/tf", tf_); - tf_->set_transform( - Eigen::Translation3d{0.16, 0.0, 0.15}); gimbal_calibrate_subscription_ = create_subscription( "/gimbal/calibrate", rclcpp::QoS{0}, [this](std_msgs::msg::Int32::UniquePtr&& msg) { @@ -54,10 +50,15 @@ class SteeringHero top_board_ = std::make_unique( *this, *command_component_, get_parameter("board_serial_top_board").as_string()); - bottom_board_ = std::make_unique( - *this, *command_component_, get_parameter("board_serial_bottom_board").as_string()); - temperature_logging_timer_.reset(1000); + bottom_board_one_ = std::make_unique( + *this, *command_component_, get_parameter("board_serial_bottom_board_one").as_string()); + + bottom_board_two_ = std::make_unique( + *this, *command_component_, get_parameter("board_serial_bottom_board_two").as_string()); + + tf_->set_transform( + Eigen::Translation3d{0.06603, 0.0, 0.082}); } SteeringHero(const SteeringHero&) = delete; @@ -69,51 +70,39 @@ class SteeringHero void update() override { top_board_->update(); - bottom_board_->update(); - - if (temperature_logging_timer_.tick()) { - temperature_logging_timer_.reset(1000); - RCLCPP_INFO( - get_logger(), - "Temperature: pitch: %.1f, top_yaw: %.1f, bottom_yaw: %.1f, feeder: %.1f", - top_board_->gimbal_pitch_motor_.temperature(), - top_board_->gimbal_top_yaw_motor_.temperature(), - bottom_board_->gimbal_bottom_yaw_motor_.temperature(), - top_board_->gimbal_bullet_feeder_.temperature()); - } + bottom_board_one_->update(); + bottom_board_two_->update(); } void command_update() { top_board_->command_update(); - bottom_board_->command_update(); + bottom_board_one_->command_update(); + bottom_board_two_->command_update(); } private: void gimbal_calibrate_subscription_callback(std_msgs::msg::Int32::UniquePtr) { RCLCPP_INFO( get_logger(), "[gimbal calibration] New bottom yaw offset: %ld", - bottom_board_->gimbal_bottom_yaw_motor_.calibrate_zero_point()); + bottom_board_two_->gimbal_bottom_yaw_motor_.calibrate_zero_point()); RCLCPP_INFO( get_logger(), "[gimbal calibration] New pitch offset: %ld", top_board_->gimbal_pitch_motor_.calibrate_zero_point()); RCLCPP_INFO( get_logger(), "[gimbal calibration] New top yaw offset: %ld", top_board_->gimbal_top_yaw_motor_.calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[gimbal calibration] New viewer offset: %ld", - top_board_->gimbal_player_viewer_motor_.calibrate_zero_point()); RCLCPP_INFO( get_logger(), "[chassis calibration] left front steering offset: %d", - bottom_board_->chassis_steering_motors_[0].calibrate_zero_point()); + bottom_board_one_->chassis_steering_motors_[0].calibrate_zero_point()); + RCLCPP_INFO( + get_logger(), "[chassis calibration] right front steering offset: %d", + bottom_board_one_->chassis_steering_motors_[1].calibrate_zero_point()); RCLCPP_INFO( get_logger(), "[chassis calibration] left back steering offset: %d", - bottom_board_->chassis_steering_motors_[1].calibrate_zero_point()); + bottom_board_two_->chassis_steering_motors2_[0].calibrate_zero_point()); RCLCPP_INFO( get_logger(), "[chassis calibration] right back steering offset: %d", - bottom_board_->chassis_steering_motors_[2].calibrate_zero_point()); - RCLCPP_INFO( - get_logger(), "[chassis calibration] right front steering offset: %d", - bottom_board_->chassis_steering_motors_[3].calibrate_zero_point()); + bottom_board_two_->chassis_steering_motors2_[1].calibrate_zero_point()); } class SteeringHeroCommand : public rmcs_executor::Component { @@ -123,7 +112,6 @@ class SteeringHero void update() override { hero_.command_update(); } - private: SteeringHero& hero_; }; std::shared_ptr command_component_; @@ -132,68 +120,72 @@ class SteeringHero public: friend class SteeringHero; explicit TopBoard( - SteeringHero& hero, SteeringHeroCommand& hero_command, + SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, std::string_view board_serial = {}) : librmcs::agent::CBoard(board_serial) - , tf_(hero.tf_) + , logger_(steering_hero.get_logger()) + , tf_(steering_hero.tf_) , imu_(1000, 0.2, 0.0) - , benewake_(hero, "/gimbal/auto_aim/laser_distance") - , gimbal_top_yaw_motor_( - hero, hero_command, "/gimbal/top_yaw", - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} - .set_encoder_zero_point( - static_cast( - hero.get_parameter("top_yaw_motor_zero_point").as_int()))) - , gimbal_pitch_motor_( - hero, hero_command, "/gimbal/pitch", - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} - .set_encoder_zero_point( - static_cast(hero.get_parameter("pitch_motor_zero_point").as_int()))) + , gimbal_top_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/top_yaw") + , gimbal_pitch_motor_(steering_hero, steering_hero_command, "/gimbal/pitch") , gimbal_friction_wheels_( - {hero, hero_command, "/gimbal/second_left_friction", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio( - 1.)}, - {hero, hero_command, "/gimbal/first_left_friction", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio( - 1.)}, - {hero, hero_command, "/gimbal/first_right_friction", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .set_reversed()}, - {hero, hero_command, "/gimbal/second_right_friction", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reduction_ratio(1.) - .set_reversed()}) - , gimbal_bullet_feeder_( - hero, hero_command, "/gimbal/bullet_feeder", - device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} - .set_reversed() - .enable_multi_turn_angle()) - , gimbal_scope_motor_( - hero, hero_command, "/gimbal/scope", - device::DjiMotor::Config{device::DjiMotor::Type::kM2006}) - , gimbal_player_viewer_motor_( - hero, hero_command, "/gimbal/player_viewer", - device::LkMotor::Config{device::LkMotor::Type::kMG4005Ei10} - .set_encoder_zero_point( - static_cast(hero.get_parameter("viewer_motor_zero_point").as_int())) - .set_reversed()) { + {steering_hero, steering_hero_command, "/gimbal/first_left_friction"}, + {steering_hero, steering_hero_command, "/gimbal/first_right_friction"}, + {steering_hero, steering_hero_command, "/gimbal/second_left_friction"}, + {steering_hero, steering_hero_command, "/gimbal/second_right_friction"}) + , gimbal_bullet_feeder_(steering_hero, steering_hero_command, "/gimbal/bullet_feeder") + , putter_motor_(steering_hero, steering_hero_command, "/gimbal/putter") { + + gimbal_top_yaw_motor_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10}.set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("top_yaw_motor_zero_point").as_int()))); + gimbal_pitch_motor_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10}.set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("pitch_motor_zero_point").as_int()))); + gimbal_friction_wheels_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + gimbal_friction_wheels_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(1.)); + gimbal_friction_wheels_[2].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(1.)); + gimbal_friction_wheels_[3].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(1.)); + gimbal_bullet_feeder_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG5010Ei10} + .set_reversed() + .enable_multi_turn_angle()); + putter_motor_.configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reduction_ratio(1.) + .enable_multi_turn_angle()); + + steering_hero.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); + steering_hero.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); + + steering_hero.register_output( + "/gimbal/photoelectric_sensor", photoelectric_sensor_status_, false); + steering_hero.register_output( + "/auto_aim/image_capturer/timestamp", camera_capturer_trigger_timestamp_, 0); + steering_hero.register_output( + "/auto_aim/image_capturer/trigger", camera_capturer_trigger_, 0); imu_.set_coordinate_mapping([](double x, double y, double z) { // Get the mapping with the following code. - // The rotation angle must be an exact multiple of 90 degrees, otherwise use a - // matrix. + // The rotation angle must be an exact multiple of 90 degrees, otherwise + // use a matrix. - // Eigen::AngleAxisd pitch_link_to_imu_link{ - // std::numbers::pi, Eigen::Vector3d::UnitZ()}; - // Eigen::Vector3d mapping = pitch_link_to_imu_link * Eigen::Vector3d{1, 2, 3}; + // Eigen::AngleAxisd pitch_link_to_bmi088_link{ + // std::numbers::pi / 2, Eigen::Vector3d::UnitZ()}; + // Eigen::Vector3d mapping = pitch_link_to_bmi088_link * Eigen::Vector3d{1, 2, 3}; // std::cout << mapping << std::endl; - return std::make_tuple(-x, -y, z); }); - - hero.register_output("/gimbal/yaw/velocity_imu", gimbal_yaw_velocity_imu_); - hero.register_output("/gimbal/pitch/velocity_imu", gimbal_pitch_velocity_imu_); } TopBoard(const TopBoard&) = delete; @@ -202,16 +194,13 @@ class SteeringHero TopBoard& operator=(TopBoard&&) = delete; ~TopBoard() final = default; - void update() { imu_.update_status(); - const Eigen::Quaterniond gimbal_imu_pose{imu_.q0(), imu_.q1(), imu_.q2(), imu_.q3()}; + Eigen::Quaterniond gimbal_imu_pose{imu_.q0(), imu_.q1(), imu_.q2(), imu_.q3()}; tf_->set_transform( gimbal_imu_pose.conjugate()); - benewake_.update_status(); - *gimbal_yaw_velocity_imu_ = imu_.gz(); *gimbal_pitch_velocity_imu_ = imu_.gy(); @@ -221,16 +210,15 @@ class SteeringHero tf_->set_state( gimbal_pitch_motor_.angle()); - gimbal_player_viewer_motor_.update_status(); - tf_->set_state( - gimbal_player_viewer_motor_.angle()); - - gimbal_scope_motor_.update_status(); - for (auto& motor : gimbal_friction_wheels_) motor.update_status(); gimbal_bullet_feeder_.update_status(); + putter_motor_.update_status(); + + if (last_camera_capturer_trigger_timestamp_ != *camera_capturer_trigger_timestamp_) + *camera_capturer_trigger_ = true; + last_camera_capturer_trigger_timestamp_ = *camera_capturer_trigger_timestamp_; } void command_update() { @@ -240,26 +228,19 @@ class SteeringHero .can_id = 0x200, .can_data = device::CanPacket8{ - gimbal_friction_wheels_[0].generate_command(), + gimbal_friction_wheels_[3].generate_command(), gimbal_friction_wheels_[1].generate_command(), gimbal_friction_wheels_[2].generate_command(), - gimbal_friction_wheels_[3].generate_command(), + gimbal_friction_wheels_[0].generate_command(), } .as_bytes(), }); builder.can1_transmit({ - .can_id = 0x141, - .can_data = gimbal_bullet_feeder_ - .generate_torque_command(gimbal_bullet_feeder_.control_torque()) - .as_bytes(), - }); - - builder.can2_transmit({ - .can_id = 0x200, + .can_id = 0x1FF, .can_data = device::CanPacket8{ - gimbal_scope_motor_.generate_command(), + putter_motor_.generate_command(), device::CanPacket8::PaddingQuarter{}, device::CanPacket8::PaddingQuarter{}, device::CanPacket8::PaddingQuarter{}, @@ -267,12 +248,9 @@ class SteeringHero .as_bytes(), }); - builder.can2_transmit({ - .can_id = 0x143, - .can_data = - gimbal_player_viewer_motor_ - .generate_velocity_command(gimbal_player_viewer_motor_.control_velocity()) - .as_bytes(), + builder.can1_transmit({ + .can_id = 0x141, + .can_data = gimbal_bullet_feeder_.generate_torque_command().as_bytes(), }); builder.can2_transmit({ @@ -290,16 +268,17 @@ class SteeringHero void can1_receive_callback(const librmcs::data::CanDataView& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x201) { + if (can_id == 0x204) { gimbal_friction_wheels_[0].store_status(data.can_data); } else if (can_id == 0x202) { gimbal_friction_wheels_[1].store_status(data.can_data); } else if (can_id == 0x203) { gimbal_friction_wheels_[2].store_status(data.can_data); - } else if (can_id == 0x204) { + } else if (can_id == 0x201) { gimbal_friction_wheels_[3].store_status(data.can_data); + } else if (can_id == 0x205) { + putter_motor_.store_status(data.can_data); } else if (can_id == 0x141) { gimbal_bullet_feeder_.store_status(data.can_data); } @@ -308,23 +287,15 @@ class SteeringHero void can2_receive_callback(const librmcs::data::CanDataView& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; + if (can_id == 0x141) { gimbal_top_yaw_motor_.store_status(data.can_data); } else if (can_id == 0x142) { gimbal_pitch_motor_.store_status(data.can_data); - } else if (can_id == 0x143) { - gimbal_player_viewer_motor_.store_status(data.can_data); - } else if (can_id == 0x201) { - gimbal_scope_motor_.store_status(data.can_data); } } - void uart2_receive_callback(const librmcs::data::UartDataView& data) override { - benewake_.store_status(data.uart_data.data(), data.uart_data.size()); - } - void accelerometer_receive_callback( const librmcs::data::AccelerometerDataView& data) override { imu_.store_accelerometer_status(data.x, data.y, data.z); @@ -334,82 +305,257 @@ class SteeringHero imu_.store_gyroscope_status(data.x, data.y, data.z); } - OutputInterface& tf_; + void putter_receive_callback(bool status) { *photoelectric_sensor_status_ = status; } - device::Bmi088 imu_; - device::Benewake benewake_; + rclcpp::Logger logger_; + OutputInterface& tf_; - OutputInterface gimbal_yaw_velocity_imu_; - OutputInterface gimbal_pitch_velocity_imu_; + std::time_t last_camera_capturer_trigger_timestamp_{0}; + device::Bmi088 imu_; device::LkMotor gimbal_top_yaw_motor_; device::LkMotor gimbal_pitch_motor_; - device::DjiMotor gimbal_friction_wheels_[4]; device::LkMotor gimbal_bullet_feeder_; + device::DjiMotor putter_motor_; - device::DjiMotor gimbal_scope_motor_; - device::LkMotor gimbal_player_viewer_motor_; + OutputInterface gimbal_yaw_velocity_imu_; + OutputInterface gimbal_pitch_velocity_imu_; + OutputInterface photoelectric_sensor_status_; + OutputInterface camera_capturer_trigger_; + OutputInterface camera_capturer_trigger_timestamp_; }; - class BottomBoard final : private librmcs::agent::CBoard { + class BottomBoard_one final : private librmcs::agent::CBoard { public: friend class SteeringHero; - explicit BottomBoard( - SteeringHero& hero, SteeringHeroCommand& hero_command, + explicit BottomBoard_one( + SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, std::string_view board_serial = {}) : librmcs::agent::CBoard(board_serial) + , logger_(steering_hero.get_logger()) , imu_(1000, 0.2, 0.0) - , tf_(hero.tf_) - , dr16_(hero) + , chassis_front_climber_motor_( + {steering_hero, steering_hero_command, "/chassis/climber/left_front_motor"}, + {steering_hero, steering_hero_command, "/chassis/climber/right_front_motor"}) + , chassis_back_climber_motor_( + {steering_hero, steering_hero_command, "/chassis/climber/left_back_motor"}, + {steering_hero, steering_hero_command, "/chassis/climber/right_back_motor"}) , chassis_steering_motors_( - {hero, hero_command, "/chassis/left_front_steering", - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast(hero.get_parameter("left_front_zero_point").as_int())) - .set_reversed()}, - {hero, hero_command, "/chassis/left_back_steering", - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast(hero.get_parameter("left_back_zero_point").as_int())) - .set_reversed()}, - {hero, hero_command, "/chassis/right_back_steering", - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast(hero.get_parameter("right_back_zero_point").as_int())) - .set_reversed()}, - {hero, hero_command, "/chassis/right_front_steering", - device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} - .set_encoder_zero_point( - static_cast(hero.get_parameter("right_front_zero_point").as_int())) - .set_reversed()}) + {steering_hero, steering_hero_command, "/chassis/left_front_steering"}, + {steering_hero, steering_hero_command, "/chassis/right_front_steering"}) , chassis_wheel_motors_( - {hero, hero_command, "/chassis/left_front_wheel", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)}, - {hero, hero_command, "/chassis/left_back_wheel", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)}, - {hero, hero_command, "/chassis/right_back_wheel", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)}, - {hero, hero_command, "/chassis/right_front_wheel", - device::DjiMotor::Config{device::DjiMotor::Type::kM3508} - .set_reversed() - .set_reduction_ratio(2232. / 169.)}) - , supercap_(hero, hero_command) - , gimbal_bottom_yaw_motor_( - hero, hero_command, "/gimbal/bottom_yaw", - device::LkMotor::Config{device::LkMotor::Type::kMG6012Ei8} - .set_reversed() - .set_encoder_zero_point( - static_cast( - hero.get_parameter("bottom_yaw_motor_zero_point").as_int()))) { - - hero.register_output("/referee/serial", referee_serial_); + {steering_hero, steering_hero_command, "/chassis/left_front_wheel"}, + {steering_hero, steering_hero_command, "/chassis/right_front_wheel"}) { + // + + chassis_steering_motors_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + .set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("left_front_zero_point").as_int())) + .set_reversed()); + chassis_steering_motors_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + .set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("right_front_zero_point").as_int())) + .set_reversed()); + chassis_wheel_motors_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(2232. / 169.)); + chassis_wheel_motors_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(2232. / 169.)); + + chassis_front_climber_motor_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(19.)); + chassis_front_climber_motor_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508}.set_reduction_ratio(19.)); + chassis_back_climber_motor_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .enable_multi_turn_angle() + .set_reduction_ratio(19.)); + chassis_back_climber_motor_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .enable_multi_turn_angle() + .set_reduction_ratio(19.)); + + steering_hero.register_output( + "/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); + steering_hero.register_output( + "/chassis/pitch_imu", chassis_pitch_imu_, 0.0); + } + BottomBoard_one(const BottomBoard_one&) = delete; + BottomBoard_one& operator=(const BottomBoard_one&) = delete; + BottomBoard_one(BottomBoard_one&&) = delete; + BottomBoard_one& operator=(BottomBoard_one&&) = delete; + + ~BottomBoard_one() final = default; + + void update() { + imu_.update_status(); + + *chassis_yaw_velocity_imu_ = imu_.gz(); + *chassis_pitch_imu_ = -std::asin(2.0 * (imu_.q0() * imu_.q2() - imu_.q3() * imu_.q1())); + + chassis_front_climber_motor_[0].update_status(); + chassis_front_climber_motor_[1].update_status(); + chassis_back_climber_motor_[0].update_status(); + chassis_back_climber_motor_[1].update_status(); + + for (auto& motor : chassis_wheel_motors_) + motor.update_status(); + for (auto& motor : chassis_steering_motors_) + motor.update_status(); + } + + void command_update() { + auto builder = start_transmit(); + + builder.can1_transmit({ + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_wheel_motors_[1].generate_command(), + chassis_wheel_motors_[0].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + } + .as_bytes(), + }); + + builder.can1_transmit({ + .can_id = 0x1FE, + .can_data = + device::CanPacket8{ + device::CanPacket8::PaddingQuarter{}, + chassis_steering_motors_[0].generate_command(), + device::CanPacket8::PaddingQuarter{}, + chassis_steering_motors_[1].generate_command(), + } + .as_bytes(), + }); + + builder.can2_transmit({ + .can_id = 0x200, + .can_data = + device::CanPacket8{ + chassis_back_climber_motor_[0].generate_command(), + chassis_back_climber_motor_[1].generate_command(), + chassis_front_climber_motor_[0].generate_command(), + chassis_front_climber_motor_[1].generate_command(), + } + .as_bytes(), + }); + } + + private: + void can1_receive_callback(const librmcs::data::CanDataView& data) override { + if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] + return; + auto can_id = data.can_id; + if (can_id == 0x201) { + chassis_wheel_motors_[1].store_status(data.can_data); + } else if (can_id == 0x202) { + chassis_wheel_motors_[0].store_status(data.can_data); + } else if (can_id == 0x206) { + chassis_steering_motors_[0].store_status(data.can_data); + } else if (can_id == 0x208) { + chassis_steering_motors_[1].store_status(data.can_data); + } + } + + void can2_receive_callback(const librmcs::data::CanDataView& data) override { + if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] + return; + auto can_id = data.can_id; + + if (can_id == 0x203) { + chassis_front_climber_motor_[0].store_status(data.can_data); + } else if (can_id == 0x204) { + chassis_front_climber_motor_[1].store_status(data.can_data); + } else if (can_id == 0x201) { + chassis_back_climber_motor_[0].store_status(data.can_data); + } else if (can_id == 0x202) { + chassis_back_climber_motor_[1].store_status(data.can_data); + } + } + + void accelerometer_receive_callback( + const librmcs::data::AccelerometerDataView& data) override { + imu_.store_accelerometer_status(data.x, data.y, data.z); + } + + void gyroscope_receive_callback(const librmcs::data::GyroscopeDataView& data) override { + imu_.store_gyroscope_status(data.x, data.y, data.z); + } + + rclcpp::Logger logger_; + + device::Bmi088 imu_; + device::DjiMotor chassis_front_climber_motor_[2]; + device::DjiMotor chassis_back_climber_motor_[2]; + device::DjiMotor chassis_steering_motors_[2]; + device::DjiMotor chassis_wheel_motors_[2]; + + OutputInterface chassis_yaw_velocity_imu_; + OutputInterface chassis_pitch_imu_; + OutputInterface gimbal_yaw_velocity_imu_; + OutputInterface gimbal_pitch_velocity_imu_; + }; + + class BottomBoard_two final : private librmcs::agent::CBoard { + public: + friend class SteeringHero; + explicit BottomBoard_two( + SteeringHero& steering_hero, SteeringHeroCommand& steering_hero_command, + std::string_view board_serial = {}) + : librmcs::agent::CBoard(board_serial) + , logger_(steering_hero.get_logger()) + , imu_(1000, 0.2, 0.0) + , tf_(steering_hero.tf_) + , dr16_(steering_hero) + , supercap_(steering_hero, steering_hero_command) + , chassis_steering_motors2_( + {steering_hero, steering_hero_command, "/chassis/left_back_steering"}, + {steering_hero, steering_hero_command, "/chassis/right_back_steering"}) + , chassis_wheel_motors2_( + {steering_hero, steering_hero_command, "/chassis/left_back_wheel"}, + {steering_hero, steering_hero_command, "/chassis/right_back_wheel"}) + , gimbal_bottom_yaw_motor_(steering_hero, steering_hero_command, "/gimbal/bottom_yaw") { + chassis_steering_motors2_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + .set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("left_back_zero_point").as_int())) + .set_reversed()); + chassis_steering_motors2_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kGM6020} + .set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("right_back_zero_point").as_int())) + .set_reversed()); + chassis_wheel_motors2_[0].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(2232. / 169.)); + chassis_wheel_motors2_[1].configure( + device::DjiMotor::Config{device::DjiMotor::Type::kM3508} + .set_reversed() + .set_reduction_ratio(2232. / 169.)); + gimbal_bottom_yaw_motor_.configure( + device::LkMotor::Config{device::LkMotor::Type::kMG6012Ei8} + .set_reversed() + .set_encoder_zero_point( + static_cast( + steering_hero.get_parameter("bottom_yaw_motor_zero_point").as_int()))); + steering_hero.register_output("/referee/serial", referee_serial_); referee_serial_->read = [this](std::byte* buffer, size_t size) { return referee_ring_buffer_receive_.pop_front_n( [&buffer](std::byte byte) noexcept { *buffer++ = byte; }, size); @@ -420,49 +566,47 @@ class SteeringHero }); return size; }; - - hero.register_output("/chassis/yaw/velocity_imu", chassis_yaw_velocity_imu_, 0); - - hero.register_output( + steering_hero.register_output( "/chassis/powermeter/control_enable", powermeter_control_enabled_, false); - hero.register_output( + steering_hero.register_output( "/chassis/powermeter/charge_power_limit", powermeter_charge_power_limit_, 0.); } - BottomBoard(const BottomBoard&) = delete; - BottomBoard& operator=(const BottomBoard&) = delete; - BottomBoard(BottomBoard&&) = delete; - BottomBoard& operator=(BottomBoard&&) = delete; + BottomBoard_two(const BottomBoard_two&) = delete; + BottomBoard_two& operator=(const BottomBoard_two&) = delete; + BottomBoard_two(BottomBoard_two&&) = delete; + BottomBoard_two& operator=(BottomBoard_two&&) = delete; - ~BottomBoard() final = default; + ~BottomBoard_two() final = default; void update() { imu_.update_status(); dr16_.update_status(); supercap_.update_status(); - *chassis_yaw_velocity_imu_ = imu_.gz(); - - for (auto& motor : chassis_wheel_motors_) + for (auto& motor : chassis_wheel_motors2_) motor.update_status(); - for (auto& motor : chassis_steering_motors_) + for (auto& motor : chassis_steering_motors2_) motor.update_status(); + gimbal_bottom_yaw_motor_.update_status(); + tf_->set_state( gimbal_bottom_yaw_motor_.angle()); } void command_update() { + auto builder = start_transmit(); builder.can1_transmit({ .can_id = 0x200, .can_data = device::CanPacket8{ - chassis_wheel_motors_[0].generate_command(), - chassis_wheel_motors_[1].generate_command(), - chassis_wheel_motors_[2].generate_command(), - chassis_wheel_motors_[3].generate_command(), + device::CanPacket8::PaddingQuarter{}, + device::CanPacket8::PaddingQuarter{}, + chassis_wheel_motors2_[1].generate_command(), + chassis_wheel_motors2_[0].generate_command(), } .as_bytes(), }); @@ -471,26 +615,14 @@ class SteeringHero .can_id = 0x1FE, .can_data = device::CanPacket8{ + chassis_steering_motors2_[0].generate_command(), device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, - device::CanPacket8::PaddingQuarter{}, + chassis_steering_motors2_[1].generate_command(), supercap_.generate_command(), } .as_bytes(), }); - builder.can2_transmit({ - .can_id = 0x1FE, - .can_data = - device::CanPacket8{ - chassis_steering_motors_[0].generate_command(), - chassis_steering_motors_[1].generate_command(), - chassis_steering_motors_[2].generate_command(), - chassis_steering_motors_[3].generate_command(), - } - .as_bytes(), - }); - builder.can2_transmit({ .can_id = 0x141, .can_data = gimbal_bottom_yaw_motor_.generate_command().as_bytes(), @@ -501,16 +633,16 @@ class SteeringHero void can1_receive_callback(const librmcs::data::CanDataView& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x201) { - chassis_wheel_motors_[0].store_status(data.can_data); - } else if (can_id == 0x202) { - chassis_wheel_motors_[1].store_status(data.can_data); - } else if (can_id == 0x203) { - chassis_wheel_motors_[2].store_status(data.can_data); + + if (can_id == 0x203) { + chassis_wheel_motors2_[1].store_status(data.can_data); } else if (can_id == 0x204) { - chassis_wheel_motors_[3].store_status(data.can_data); + chassis_wheel_motors2_[0].store_status(data.can_data); + } else if (can_id == 0x205) { + chassis_steering_motors2_[0].store_status(data.can_data); + } else if (can_id == 0x207) { + chassis_steering_motors2_[1].store_status(data.can_data); } else if (can_id == 0x300) { supercap_.store_status(data.can_data); } @@ -519,21 +651,15 @@ class SteeringHero void can2_receive_callback(const librmcs::data::CanDataView& data) override { if (data.is_extended_can_id || data.is_remote_transmission) [[unlikely]] return; - auto can_id = data.can_id; - if (can_id == 0x205) { - chassis_steering_motors_[0].store_status(data.can_data); - } else if (can_id == 0x206) { - chassis_steering_motors_[1].store_status(data.can_data); - } else if (can_id == 0x207) { - chassis_steering_motors_[2].store_status(data.can_data); - } else if (can_id == 0x208) { - chassis_steering_motors_[3].store_status(data.can_data); - } else if (can_id == 0x141) { + + if (can_id == 0x141) { gimbal_bottom_yaw_motor_.store_status(data.can_data); } } + rclcpp::Logger logger_; + void uart1_receive_callback(const librmcs::data::UartDataView& data) override { const auto* uart_data = data.uart_data.data(); referee_ring_buffer_receive_.emplace_back_n( @@ -557,17 +683,14 @@ class SteeringHero device::Bmi088 imu_; OutputInterface& tf_; - OutputInterface chassis_yaw_velocity_imu_; - OutputInterface powermeter_control_enabled_; OutputInterface powermeter_charge_power_limit_; device::Dr16 dr16_; - - device::DjiMotor chassis_steering_motors_[4]; - device::DjiMotor chassis_wheel_motors_[4]; device::Supercap supercap_; + device::DjiMotor chassis_steering_motors2_[2]; + device::DjiMotor chassis_wheel_motors2_[2]; device::LkMotor gimbal_bottom_yaw_motor_; rmcs_utility::RingBuffer referee_ring_buffer_receive_{256}; @@ -578,10 +701,9 @@ class SteeringHero rclcpp::Subscription::SharedPtr gimbal_calibrate_subscription_; - std::unique_ptr top_board_; - std::unique_ptr bottom_board_; - - rmcs_utility::TickTimer temperature_logging_timer_; + std::shared_ptr top_board_; + std::shared_ptr bottom_board_one_; + std::shared_ptr bottom_board_two_; }; } // namespace rmcs_core::hardware