// 处理无线数据
void ParseRadioMsg(radioMsg_t *msg)
{
int16_t pwm1 = 0, pwm2 = 0;
static float duty[8] = {0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5};
uint16_t keys = 0;
// 先计算电机的PWM值, data[4]是右侧摇杆垂直方向, 用来控制前后运动
pwm1 = -(msg->data[4] - 0x7F) * 8;
pwm2 = pwm1;
// data[3]是右侧摇杆水平方向, 用来控制左右转向时电机的差速
pwm1 += (msg->data[3] - 0x7F) * 5;
pwm2 -= (msg->data[3] - 0x7F) * 5;
motorStatus.motor1_pwm = pwm1;
motorStatus.motor2_pwm = pwm2;
// data的第6和第7字节, 这两个字节共16位, 对应手柄的16个通道,
// 从最高位第16位到第1位, 依次是:L2, L1, LU, LL, LD, LR, SE,
// ST, RL, RD, RR, RU, R1, R2, R-KEY, L-KEY
// 其中R-KEY和L-KEY分别是左右摇杆向下按下对应的按键
keys = (msg->data[5] << 8) | msg->data[6];
// 2号舵机控制, 用L1和R1键控制正转和反转,
if((keys & (1 << 14)) && (!(keys & (1 << 3)))) // L1按下且R1松开时
{
duty[1] -= 0.005;
PWM(&duty[1]);
servoPWM.servo2 = Duty_to_PWM(duty[1]);
}
else if((!(keys & (1 << 14))) && (keys & (1 << 3))) // L1松开且R1按下时
{
duty[1] += 0.005;
PWM(&duty[1]);
servoPWM.servo2 = Duty_to_PWM(duty[1]);
}
// 3号舵机控制, 用L2和R2键控制正转和反转,
if((keys & (1 << 15)) && (!(keys & (1 << 2)))) // L2按下且R2松开时
{
duty[2] -= 0.005;
PWM(&duty[2]);
if(duty[2] < 0.1) // 防止云台垂直舵机转动角度过大,而导致堵转
{
duty[2] = 0.1;
}
servoPWM.servo3 = Duty_to_PWM(duty[2]);
}
else if((!(keys & (1 << 15))) && (keys & (1 << 2))) // L2松开且R2按下时
{
duty[2] += 0.005;
PWM(&duty[2]);
if(duty[2] > 0.9) // 防止云台垂直舵机转动角度过大,而导致堵转
{
duty[2] = 0.9;
}
servoPWM.servo3 = Duty_to_PWM(duty[2]);
}
}
// 显示系统参数
void OLED_ShowParm(void)
{
char volt1[20],volt2[20],motor1[20],motor2[20];
sprintf(volt2,"Main Voltage:%5.2f",ADC_ConvertedValueLocal[1]);
OLED_ShowStr(0,0,(uint8_t*)(&volt2),1);
sprintf(volt1, "Servo Voltage:%5.2f",ADC_ConvertedValueLocal[0]);
OLED_ShowStr(0,1,(uint8_t*)(&volt1),1);
sprintf(motor1,"motor1_pwm:%5d",motorStatus.motor1_pwm);
OLED_ShowStr(0,4,(uint8_t*)(&motor1),1);
sprintf(motor2,"motor2_pwm:%5d",motorStatus.motor2_pwm);
OLED_ShowStr(0,5,(uint8_t*)(&motor2),1);
vTaskDelay(50);
}
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温馨提示
Tank Dual开发板是一款专门为机器人项目开发的STM32多功能控制板,可以同时控制8个舵机和2个编码电机,板载MPU9250姿态传感器,自带100mW无线可实现远距离遥控、通信,支持CAN通信,USB烧录/通信,串口通信等。稳压输出可以对外给树莓派供电,控制外部负载。
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