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中文文档

Summary

Program System Architecture

System Framework

  1. This program uses free open source called freertos operating system, which is compatible with other open source protocol license.
  2. This program uses standard CMSIS-ROTS ports, which is convenient to transplant between different operating system and platform.
  3. This program can be executed and modified in different compiling environment, such as TrueSTUDIO, SW4STM32 and makefile.

Internal Framework

  1. Compared to the traditional infantry program framework, this program has multiple running tasks which can implement multi-threaded logic as well as blocking tasks.
  2. There is complete communication protocol between bottom layer and upper layer, which can receive feedback information from different modules of infantry and transmit control signal to corresponding modules.
  3. Each task, such as mode switch, data exchange and module control, is proceeded independently in internal program in order to add or remove task and function easily.
  4. Chassis, gimbal, shooting module is coupling based on the internal control task, which is easy to switch mode for different needs.

Program Structure

  1. The board support package layer (BSP) is based on the HAL library, which mainly offers communication ports and configuration of can, uart, spi, flash and io.
  2. Data exchange layer is the only place which calls the BSP layer program and exchanges data between applied program and hardware equipment.
  3. Communication layer is responsible for receiving and transmitting data and control information. Additionally, this layer is capable of packaging and unpacking data including protocol part.
  4. Data receiving layer transforms the direct data from exchange layer or parsed data from communication layer to feedback and control information.
  5. Without changing the software framework, mode switch task can implement different user-defined modes based on existing functional module.
  6. Control task consists of three main parts which are gimbal control task, chassis control task and shooting mode control task, respectively.

Software System

Start-up Sequence

The following is the start sequence diagram for every task.

Hardware System

  1. Micro Controller Unit (MCU) is STM32F427IIHx and operating frequency is 180 MHz.
  2. Module communication method is CAN communication and the related equipments are electronic speed controller and gyroscope.
  3. Universal Asynchronous Receiver/Transmitter (UART) is used to communicated between bottom and upper layer.
  4. The method of installing Mecanum Wheels is X type.

Hardware Structure

Protocol Data

Data Classification

Data transmitted to upper layer from bottom layer:

  1. Feedback information part consists of feedback information coming from each module sensors and calculated data from bottom layer.
  2. Bottom layer status information part consists of running state of all bottom layer equipments and response of bottom layer to corresponding upper layer data.
  3. Forward data information part consists of all the referee system information and the server user-defined information.

Data received from upper layer to bottom layer:

  1. Control information part is used to control the three executed mechanism in the bottom layer which are gimbal, chassis and shooting module respectively.
  2. Configuration information part includes main information to set up structural of the robot such as tread, wheelbase and initial gimbal position and running state of upper layer.
  3. Forward data information part consists of the data that forwards to referee system through bottom layer and the user-defined information that should be shown in server.

Data Flow Diagram

Quick Start

Hardware Interface

The following is the location of each interface of the main control board.

Function Module

Manual Mode:

Basic control command including remote control and key-mouse control is executed in manual mode. If a series of accessibility is needed in manual mode such as auxiliary shooting, upper layer protocol communication should be enabled to receive related information from upper layer PC.

In manual mode, there is a series of upper layer debug ports which is convenient to test and verify during upper layer program debugging.

Full Auto Mode:

Upper layer PC takes the whole control of chassis, gimbal and shooting module in bottom layer in full auto mode.

Operating Instructions:

Manual Mode

Control data, debug and non-automatic part (Right switcher state: UP.)

Remote control: (Right switcher state: UP.)

  • open or close friction wheel
  • single shot or burst

Key-mouse control: (Right switcher state: UP. Left switcher state: MIDDLE.)

  • open or close friction wheel
  • single shot or burst
  • twist to dodge bullets
Debug Mode

Debugging robot part (Right switcher state: MIDDLE.)

  • twist to dodge bullets (Right switcher state: MIDDLE. Left switcher state: UP)
  • Gimbal tracks strikers but chassis doesn't follow gimbal (Right switcher state: MIDDLE. Left switcher state: MIDDLE.)
  • Gimbal tracks strikers and chassis follows gimbal (Right switcher state: MIDDLE. Left switcher state: DOWN.)
  • Friction wheel keep its state.
  • Shooting module follows control from upper layer.
Full-auto Mode

Normal competition part (Right switcher state: Down)

  • Full-auto control from upper layer.

Working state instructions

comment:

Bold parts shown following are the different modules working states in full-auto mode. User should notice initial value of each mode when upper layer PC transmit control signal.

Gimbal

typedef enum
{
  GIMBAL_RELAX         = 0,
  GIMBAL_INIT          = 1,
  GIMBAL_NO_ARTI_INPUT = 2,
  GIMBAL_FOLLOW_ZGYRO  = 3,
  GIMBAL_TRACK_ARMOR   = 4,
  GIMBAL_PATROL_MODE   = 5,
  GIMBAL_SHOOT_BUFF    = 6,
  GIMBAL_POSITION_MODE = 7,
} gimbal_mode_e;
Gimbal Mode Function
GIMBAL_RELAX Power off gimbal
GIMBAL_INIT Restart gimbal
GIMBAL_NO_ARTI_INPUT No manual control of information input mode
GIMBAL_FOLLOW_ZGYRO Gimbal follows chassis mode
GIMBAL_TRACK_ARMOR Gimbal tracks striker
GIMBAL_PATROL_MODE Patrol mode
GIMBAL_SHOOT_BUFF Shooting big buff mode
GIMBAL_POSITION_MODE Upper layer PC control mode

Chassis

typedef enum
{
  CHASSIS_RELAX          = 0,
  CHASSIS_STOP           = 1,
  MANUAL_SEPARATE_GIMBAL = 2,
  MANUAL_FOLLOW_GIMBAL   = 3,
  DODGE_MODE             = 4,
  AUTO_SEPARATE_GIMBAL   = 5,
  AUTO_FOLLOW_GIMBAL     = 6,
} chassis_mode_e;
Chassis mode Function
CHASSIS_RELAX Power off chassis
CHASSIS_STOP Stop chassis
MANUAL_SEPARATE_GIMBAL Control chassis and gimbal separately in manual mode
MANUAL_FOLLOW_GIMBAL Chassis follows gimbal in manual mode
DODGE_MODE Chassis dodge bullets mode
AUTO_SEPARATE_GIMBAL Control chassis and gimbal separately in full-auto mode
AUTO_FOLLOW_GIMBAL Chassis follows gimbal in full-auto mode

Shooting Module

typedef enum
{
  SHOT_DISABLE       = 0,
  REMOTE_CTRL_SHOT   = 1,
  KEYBOARD_CTRL_SHOT = 2,
  SEMIAUTO_CTRL_SHOT = 3,
  AUTO_CTRL_SHOT     = 4,
} shoot_mode_e;
Shooting module mode Function
SHOT_DISABLE Power off shooting module
REMOTE_CTRL_SHOT Remote control
KEYBOARD_CTRL_SHOT Key-mouse control
SEMIAUTO_CTRL_SHOT Single shot or burst in semi-auto mode
AUTO_CTRL_SHOT Full-auto control