From e866a74c9c2b07d193951e90653480c38905a16a Mon Sep 17 00:00:00 2001 From: myperworld Date: Thu, 5 Feb 2026 09:36:10 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0V1.4=EF=BC=8C=E5=B9=B6?= =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=8E=A9=E8=BD=A6=E8=AF=B4=E6=98=8E=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../platformio/src/RobotActions.h | 11 +- .../platformio/src/SerialParser.cpp | 16 +- .../platformio/src/SerialParser.h | 4 + .../platformio/src/main.cpp | 115 +- .../模型文件/3.7g塑料舵机云台V20.step | 18440 ------------ .../模型文件/3.7g塑料舵机前档V2.step | 14857 ---------- v1.4 摄像头提乒乓球方案/玩车说明260205.docx | Bin 0 -> 284922 bytes 模型文件/3.7g塑料舵机云台V22.step | 23266 ---------------- 模型文件/3.7g塑料舵机前档V2.step | 14857 ---------- 模型文件/前档V1.step | 1633 -- 模型文件/前档V2.step | 1557 -- 模型文件/小腿.stl | Bin 227884 -> 0 bytes 模型文件/开源地址和QQ群.pptx | Bin 520498 -> 0 bytes 13 files changed, 109 insertions(+), 74647 deletions(-) delete mode 100644 v1.4 摄像头提乒乓球方案/模型文件/3.7g塑料舵机云台V20.step delete mode 100644 v1.4 摄像头提乒乓球方案/模型文件/3.7g塑料舵机前档V2.step create mode 100644 v1.4 摄像头提乒乓球方案/玩车说明260205.docx delete mode 100644 模型文件/3.7g塑料舵机云台V22.step delete mode 100644 模型文件/3.7g塑料舵机前档V2.step delete mode 100644 模型文件/前档V1.step delete mode 100644 模型文件/前档V2.step delete mode 100644 模型文件/小腿.stl delete mode 100644 模型文件/开源地址和QQ群.pptx diff --git a/v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h b/v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h index a397143..0c75b10 100644 --- a/v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h +++ b/v1.4 摄像头提乒乓球方案/platformio/src/RobotActions.h @@ -119,4 +119,13 @@ ActionStep step_forward[] = { RobotAction action_step_forward = CREATE_ACTION("action_step_forward", step_forward); -#endif \ No newline at end of file +#endif + + +// 增加rgb效果 + // if (remoteData.btnShare && !last_btnShare && robot_enabled && !isExecutingAction) { + // isExecutingAction = true; // 标记开始执行动作 + // currentAction = &action_say_hello; // 指定执行的动作 + // stepStartTime = millis(); // 记录第一步开始时间 + // currentStepIndex = 0; // 从第一步开始 + // } diff --git a/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp index 56ef08d..7b9771d 100644 --- a/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp +++ b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.cpp @@ -6,7 +6,6 @@ char serial_buf[32]; // 存储串口接收数据 uint8_t buf_idx = 0; // 缓冲区索引 // -------------------------- 串口接收处理函数-------------------------- -// 修改 serialReceiveProcess 函数以支持两种结束符 void serialReceiveProcess() { while (Serial.available()) { char c = Serial.read(); @@ -16,6 +15,8 @@ void serialReceiveProcess() { // 判断是哪种指令格式 if (strchr(serial_buf, '=') != NULL) { parseSingleParam(serial_buf); // 处理原格式指令 + } else if (strstr(serial_buf, "MODE:") != NULL) { + parseSetRobotMode(serial_buf); // 通过串口设置小车模式 } else if (strstr(serial_buf, "S1:") != NULL && strstr(serial_buf, "S2:") != NULL) { parseServoAngleCommand(serial_buf); // 处理舵机角度控制指令 S1:90,S2:90; } else if (strstr(serial_buf, "DX:") != NULL && strstr(serial_buf, "DY:") != NULL) { @@ -68,6 +69,16 @@ void parseCameraDeviationCommand(char* cmd) { } +// 添加踢球模式设置函数 +void parseSetRobotMode(char* cmd) { + char* modestr = strstr(cmd, "MODE:"); + if (modestr == NULL) { + Serial.println("小车模式指令格式错误！请使用\"MODE:模式;\"格式（例如\"MODE:1\"）"); + return; + } + int mode_id = atoi(modestr + 5); // "MODE:"占5个字符，跳过它们取数值 + setRobotMode(mode_id); +} // -------------------------- 参数解析函数（原逻辑不变）-------------------------- void parseSingleParam(char* cmd) { @@ -177,6 +188,9 @@ void parseSingleParam(char* cmd) { } else if (strcmp(param_name, "pitch_adjust") == 0) { pitch_adjust = param_val; + } else if (strcmp(param_name, "wrobot_height") == 0) { + wrobot_height = param_val; + // } else if (strcmp(param_name, "step_joyx") == 0) { // step_joyx = param_val; diff --git a/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h index 8f1bc17..ea51976 100644 --- a/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h +++ b/v1.4 摄像头提乒乓球方案/platformio/src/SerialParser.h @@ -20,6 +20,8 @@ extern PIDController pid_yaw_align; extern float pid_cam_p; extern float pid_cam_d; +extern int wrobot_height; + extern int chase_ball_s2; extern int kick_back_s2; extern int ob_ball_dy; @@ -69,6 +71,8 @@ void parseServoAngleCommand(char* cmd); void parseCameraDeviationCommand(char* cmd); // 踢球相关函数声明 +void setRobotMode(int mode_id); +void parseSetRobotMode(char* cmd); void kick_ball_loop(); void SetKickMode(String mode); diff --git a/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp index b9f8568..c1c3082 100644 --- a/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp +++ b/v1.4 摄像头提乒乓球方案/platformio/src/main.cpp @@ -137,6 +137,8 @@ float original_leg_height_base = leg_height_base ; #define SERVO0_SPEED 400 // 舵机1速度，不能太快，否则影响其他动作平衡 #define SERVO1_SPEED 400 // 舵机2速度 +int wrobot_height_origin = 40; +int wrobot_height = 9999; int left_height; int right_height; float leg_position_add = 0; // roll轴平衡控制量 @@ -252,7 +254,7 @@ float dragon_joyx_factor = 0.8f; typedef struct { - int height = 30; + int height = wrobot_height_origin;// 40 int roll; int jump = 0; // 0=不跳跃 1=跳跃 int joyy; @@ -421,7 +423,8 @@ void setup() void loop() { - serialReceiveProcess(); // 调用串口接收函数（核心修改） + + serialReceiveProcess(); // 调用串口接收函数（核心修改） handleLEDBlink(); // 处理LED闪烁 process_xbox_notif(); // 处理xbox手柄通知 @@ -831,6 +834,9 @@ void leg_loop() leg_position_add = pid_roll_angle(lpf_roll(roll_angle)); // 左后腿默认等于 wrobot.height + if(wrobot_height != 9999){ + wrobot.height = wrobot_height; + } left_height = wrobot.height; right_height = wrobot.height; LegHeightDiff = 0; // 初始化 roll 角度补偿值 @@ -858,7 +864,7 @@ void leg_loop() // id[0] 正面看右手，id[1] 正面看左手 // 2047是舵机中间位置，8.4是系数，32是默认高度，最高80，最低32 // const int LEG_HEIGHT_BASE 这值越小，机身越高，实测范围 0（最高），52（最低） - Position[0] = 2047 + 8.4 * (left_height - leg_height_base ) - leg_position_add; + Position[0] = 2047 + 8.4 * (left_height - leg_height_base ) + leg_position_add; Position[1] = 2047 - 8.4 * (right_height - leg_height_base ) - leg_position_add; // 舵机1：限制在 SERVO0_MIN（下限）~ SERVO0_MAX（上限），和原逻辑一致 @@ -1057,7 +1063,7 @@ void resetZeroPoint() { * xbox 手柄控制 * ========================================*/ void processControllerData(const XboxControllerNotificationParser& remoteData) { - + // String str = String(xboxController.xboxNotif.btnY) + "," + // Y键 // String(xboxController.xboxNotif.btnX) + "," + // X键 // String(xboxController.xboxNotif.btnB) + "," + // B键 @@ -1295,9 +1301,9 @@ void processControllerData(const XboxControllerNotificationParser& remoteData) { } // 追逐并转向踢会球模式 @@@@@@ if (remoteData.btnY && !last_btnY && robot_enabled && trace_mode) { - if(kick_mode != "kick_back_mode"){ - SetKickMode("kick_back_mode"); - }else if(kick_mode == "kick_back_mode"){ + if(kick_mode != "kick_run_mode"){ + SetKickMode("kick_run_mode"); + }else if(kick_mode == "kick_run_mode"){ SetKickMode("kick_place_mode"); } } @@ -1568,37 +1574,28 @@ void obstacle_cancel() void kick_ball_loop(){ if(trace_mode){ - if (kick_mode == "kick_run_mode") { // 运动追踪模式 - setLEDColor(CRGB::Blue); - }else if(kick_mode == "kick_back_mode") { // 追逐并转向踢会球模式 + if(kick_mode == "kick_run_mode") { // 追逐并转向踢会球模式 setLEDColor(CRGB::Red); - }else if(kick_mode == "kick_place_mode"){ // 原地踢球模式 + }else if(kick_mode == "kick_place_mode"){ // 原地踢球模式(守门模式) setLEDColor(CRGB::Green); } - }else{ - // 非踢球模式下，动态调整高度 - if(wrobot.joyy == 0 ){ - if(current_s1 > 90){ // 打开挡板 - leg_height_base = 30.0f; - }else if(current_s1 > 10){ - leg_height_base = constrain(current_s1, 15.0f, 30.0f); - }else{ - leg_height_base = original_leg_height_base; - } - } } + // else{ + // // 非踢球模式下，动态调整高度 + // if(wrobot.joyy == 0 ){ + // if(current_s1 > 90){ // 打开挡板 + // leg_height_base = 30.0f; + // }else if(current_s1 > 10){ + // leg_height_base = constrain(current_s1, 15.0f, 30.0f); + // }else{ + // leg_height_base = original_leg_height_base; + // } + // } + // } } // 通过偏差deviation 控制摄像头上下左右运动 void kick_ball_main(int dx, int dy) { - - // 在运动踢球时，踢好球，需要有一段停止前进时间 - // if(kick_over_count > 0 && kick_over_count < kick_over_count_max){ - // kick_over_count ++; - // }else{ - // kick_over_count = 0; - // } - // Serial.println("kick_over_count: " + String(kick_over_count) ); // 不是追踪模式 if(!trace_mode){ @@ -1641,7 +1638,7 @@ void kick_ball_main(int dx, int dy) { if(kick_mode == "kick_run_mode"){ cam_aim_ball(dy); // 相机瞄准 - if(kick_over_count){ // 踢好球之后阶段 + if(kick_over_count){ // 踢好球之后阶段，转到对齐偏航角 if(kick_over_count > 0 && kick_over_count < kick_over_count_max){ kick_over_count ++; @@ -1727,7 +1724,7 @@ void kick_ball_core(){ void ready_kick_ball(){ if( abs(current_s1 - ready_kick_angel) > 5){ setFrontierServoAngles(ready_kick_angel); // 打开挡板，收到后方 - leg_height_base = ready_leg_height_base; // 下降 + // leg_height_base = ready_leg_height_base; // 下降 } } @@ -1840,17 +1837,65 @@ void cancel_kick_mode(){ setLEDColor(CRGB::Black); leg_height_base = original_leg_height_base; // 上升 + setFrontierServoAngles(0); // s1 前档舵 } void SetKickMode(String mode){ + trace_mode = true; kick_mode = mode; - yaw_to_joyx = 9999; - // 进入kick_back_mode时，记录当前偏航角作为基准0度 - if(mode == "kick_run_mode" || mode == "kick_back_mode"){ + // 进入kick_run_mode时，记录当前偏航角作为基准0度 + if(mode == "kick_run_mode"){ kick_yaw_zero = mpu6050.getAngleZ(); // 读取当前偏航角（Z轴角度）作为基准 pid_yaw_align.error_prev = 0.0f; // 重置偏航对齐PID状态 } +} + +void setRobotMode(int mode_id){ + + if(mode_id == 11){ // 站起来 + robot_enabled = true; + sitting_down = 0; // 清除坐下动作标记 + stand_up_count ++; // 站立标志位 + pid_trace_joyx.P = 0.25; // 追踪模式 + + // wrobot_height = 40; + Serial.println("站起来"); + + }else if(mode_id == 10){ // 坐下 + robot_enabled = false; + sitting_down = 1; // 标记开始坐下动作保存当前的角度零点 + pid_trace_joyx.P = 0.5; // 追踪模式 + + sms_sts.EnableTorque(ID[0], 0); // 第一个舵机失能 0 失能，1 使能 + sms_sts.EnableTorque(ID[1], 0); // 第二个舵机失能 + + cancel_kick_mode(); + Serial.println("坐下"); + + }else if(mode_id == 12){ // 还原 + roll_adjust = original_roll_adjust; + pitch_adjust = 0.0f; + leg_height_base = 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