Orin uart fixed, autoaim tuned a little

RoboMaster-Club · Apr 27, 2024 · a064785 · a064785
1 parent 9a370b1
commit a064785
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Showing 5 changed files with 19 additions and 13 deletions.
diff --git a/src/app/src/debug_task.c b/src/app/src/debug_task.c
@@ -28,7 +28,7 @@ char g_debug_buffer[1024*2] = {0};
 const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
 const char* bottom_border = "/***** End of Info *****/\r\n";
 
-#define DEBUG_ENABLED
+// #define DEBUG_ENABLED
 
 void Debug_Task_Loop(void)
 {

diff --git a/src/app/src/gimbal_task.c b/src/app/src/gimbal_task.c
@@ -124,8 +124,8 @@ void Gimbal_Ctrl_Loop()
             g_pitch->angle_pid->kd = 400.0f;
             g_pitch->velocity_pid->kp = 4500.0f;
             g_pitch->velocity_pid->ki = 0.8f;
-            DJI_Motor_Set_Angle(g_pitch, g_robot_state.gimbal_pitch_angle - 12.5f / 180.0f * PI);
-            DJI_Motor_Set_Angle(g_yaw, g_robot_state.gimbal_yaw_angle - 2.0f / 180.0f * PI);
+            DJI_Motor_Set_Angle(g_pitch, g_robot_state.gimbal_pitch_angle);
+            DJI_Motor_Set_Angle(g_yaw, g_robot_state.gimbal_yaw_angle);
         } else {
             g_yaw->angle_pid->kp = 20.0f;
             g_yaw->angle_pid->kd = 150.0f;

diff --git a/src/app/src/robot.c b/src/app/src/robot.c
@@ -200,13 +200,13 @@ void Robot_Cmd_Loop()
             __MAX_LIMIT(g_robot_state.chassis_y_speed, -MAX_SPEED, MAX_SPEED);
 
             /* power buffer*/
-            float power_buffer = Referee_System.Power_n_Heat.Chassis_Power_Buffer / 60.0f;
-            if (power_buffer < 0.8f)
-            {
-                g_robot_state.chassis_x_speed *= pow(power_buffer,1);
-                g_robot_state.chassis_y_speed *= pow(power_buffer,1);
-                g_robot_state.chassis_omega *= pow(power_buffer,1);
-            }
+            // float power_buffer = Referee_System.Power_n_Heat.Chassis_Power_Buffer / 60.0f;
+            // if (power_buffer < 0.8f)
+            // {
+            //     g_robot_state.chassis_x_speed *= pow(power_buffer,1);
+            //     g_robot_state.chassis_y_speed *= pow(power_buffer,1);
+            //     g_robot_state.chassis_omega *= pow(power_buffer,1);
+            // }
         }
     }
     else

diff --git a/src/devices/inc/jetson_orin.h b/src/devices/inc/jetson_orin.h
@@ -3,9 +3,10 @@
 
 #include <stdint.h>
 #include "bsp_uart.h"
+#include "referee_system.h"
 
 #define ORIN_DATA_RX_BUFER_SIZE (20)
-#define ORIN_DATA_TX_BUFER_SIZE (33)
+#define ORIN_DATA_TX_BUFER_SIZE (34)
 
 #define ORIN_TIMEOUT_MS (3000)
 #define JETSON_ORIN_PERIOD (100)
@@ -26,6 +27,8 @@ typedef struct
         float orientation;        // rad
         float velocity_x;         // m/s
         float velocity_y;         // m/s
+        uint8_t game_start_flag; //1 for start and 0 for not start
+		uint8_t enemy_color_flag; //1 for red and 0 for blue
 
         union
         {

diff --git a/src/devices/src/jetson_orin.c b/src/devices/src/jetson_orin.c
@@ -87,6 +87,8 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.sending.orientation = g_imu.rad.yaw;
 	g_orin_data.sending.velocity_x = 0;
 	g_orin_data.sending.velocity_y = 0;
+	g_orin_data.sending.game_start_flag = (Referee_System.Game_Status.Progress == 4) ? 1 : 0; //4 for match begin
+	g_orin_data.sending.enemy_color_flag = (Referee_Robot_State.ID > 11) ? 1 : 0; //ID > 11 means myself is blue, which means enemy is red
 
 	// float to byte conversion
 	g_orin_data.sending.float_byte.data[0] = g_orin_data.sending.pitch_angle;
@@ -99,7 +101,8 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.sending.float_byte.data[7] = g_orin_data.sending.velocity_y;
 
 	g_orin_data.tx_buffer[0] = 0xAA;
-	memcpy(&g_orin_data.tx_buffer[1],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
+	g_orin_data.tx_buffer[1] = g_orin_data.sending.enemy_color_flag << 1 | g_orin_data.sending.game_start_flag;
+	memcpy(&g_orin_data.tx_buffer[2],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
 
-	//UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
+	UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
 }