Update drone config.

config/rm_controllers/drone.yaml

@@ -32,54 +32,100 @@ controllers:
 
   gimbal_controller:
     type: rm_gimbal_controllers/Controller
-    yaw:
-      joint: "yaw_joint"
-      pid: { p: 5.1, i: 1.0, d: 0.27, i_clamp_max: 0.3, i_clamp_min: -0.3, antiwindup: true, publish_state: true }
-    pitch:
-      joint: "pitch_joint"
-      pid: { p: 22.0, i: 68.0, d: 0.6, i_clamp_max: -0.2, i_clamp_min: 0.2, antiwindup: true, publish_state: true }
+    controllers:
+      yaw:
+        joint: "yaw_joint"
+        pid: { p: 0.5, i: 15.0, d: 0.0, i_clamp_max: 0.2, i_clamp_min: -0.2, antiwindup: true, publish_state: true }
+        pid_pos: { p: 18, i: 0, d: 0.01, i_max: 0.0, i_min: 0.0, antiwindup: true, publish_state: true }
+        k_v: 1.0
+        accel: 28.0
+
+      pitch:
+        joint: "pitch_joint"
+        pid: { p: 0.5, i: 10, d: 0.0, i_clamp_max: 0.30, i_clamp_min: -0.3, antiwindup: true, publish_state: true }
+        pid_pos: { p: 25., i: 0, d: 0.0, i_max: 0.0, i_min: 0.0, antiwindup: true, publish_state: true }
+        k_v: 1.0
+        accel: 40.0
     imu_name: "gimbal_imu"
     feedforward:
-      gravity: 0.0
+      gravity: 5.0
       enable_gravity_compensation: false
-      mass_origin: [ 0.0, 0.0, 0.0 ]
+      mass_origin: [ 0.055,-0.000093,-0.1416159 ]
     bullet_solver:
-      resistance_coff_qd_10: 0.0
-      resistance_coff_qd_15: 0.0
-      resistance_coff_qd_16: 0.0
-      resistance_coff_qd_18: 0.0
-      resistance_coff_qd_30: 0.3
+      resistance_coff_qd_10: 0.001
+      resistance_coff_qd_15: 0.001
+      resistance_coff_qd_16: 0.001
+      resistance_coff_qd_18: 0.001
+      resistance_coff_qd_30: 0.001
       g: 9.81
-      delay: 0.3
+      delay: 0.028
       dt: 0.001
       timeout: 0.001
       publish_rate: 50
-      max_track_target_vel: 1.0
+      max_switch_angle: 50
+      min_switch_angle: 2
+      ban_shoot_duration: 0.032
+      gimbal_switch_duration: 0.076
+      max_track_target_vel: 10.
+      max_chassis_angular_vel: 12.0
+      track_rotate_target_delay: 0.075
+      track_move_target_delay: 0.0
+      wait_next_armor_delay: 0.02
+      wait_diagonal_armor_delay: 0.02
+      switch_angle_offset: 0.7
+      traject_ahead_: 1.45
 
   shooter_controller:
     type: rm_shooter_controllers/Controller
     publish_rate: 50
-    friction_left:
-      left_friction_wheel:
-        joint: "left_friction_wheel_joint"
-        pid: { p: 0.001, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
-    friction_right:
-      right_friction_wheel:
-        joint: "right_friction_wheel_joint"
-        pid: { p: 0.001, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
+    friction:
+      friction_left:
+        left_friction_wheel:
+          joint: "left_friction_wheel_joint"
+          pid: { p: 0.0014, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
+      friction_right:
+        right_friction_wheel:
+          joint: "right_friction_wheel_joint"
+          pid: { p: 0.0014, i: 0.01, d: 0.0, i_clamp_max: 0.01, i_clamp_min: -0.01, antiwindup: true, publish_state: true }
+    # type: rm_dshot_shooter_controllers/Controller
+    # publish_rate: 50
+    # friction:
+    #   friction_left:
+    #     left_friction_wheel:
+    #       joint: "left_friction_wheel_joint"
+    #       pid: { p: 0.5, i: 1.5, d: 0.0, i_clamp_max: 40, i_clamp_min: -40, antiwindup: true, publish_state: true }
+    #   friction_right:
+    #     right_friction_wheel:
+    #       joint: "right_friction_wheel_joint"
+    #       pid: { p: 0.5, i: 1.5, d: 0.0, i_clamp_max: 40, i_clamp_min: -40, antiwindup: true, publish_state: true }
+    #   friction_mid:
+    #     mid_friction_wheel:
+    #       joint: "mid_friction_wheel_joint"
+    #       pid: { p: 0.5, i: 1.5, d: 0.0, i_clamp_max: 40, i_clamp_min: -40, antiwindup: true, publish_state: true }
     trigger:
       joint: "trigger_joint"
-      pid: { p: 66.0, i: 0.0, d: 2.8, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true }
+      pid: { p: 20, i: 0.0, d: 0.8, i_clamp_max: 0.0, i_clamp_min: 0.0, antiwindup: true, publish_state: true }
     push_per_rotation: 9
     push_qd_threshold: 0.90
-    block_effort: 1.00
-    block_speed: 0.1
+    # block_effort: 1.70
+    # block_speed: 0.05
+    # block_duration: 0.05
+    # block_overtime: 0.8
+    # anti_block_angle: 0.23
+    # anti_block_threshold: 0.05
+    # forward_push_threshold: 0.3
+    # exit_push_threshold: 0.3
+    # qd_15: 400.0
+    # qd_18: 700.0
+    # qd_30: 690.0
+    block_effort: 1.7
+    block_speed: 0.05
     block_duration: 0.05
-    block_overtime: 0.5
-    anti_block_angle: 0.46
-    anti_block_threshold: 0.1
+    block_overtime: 0.8
+    anti_block_angle: 0.23
+    anti_block_threshold: 0.05
     forward_push_threshold: 0.3
     exit_push_threshold: 0.3
-    qd_15: 400.0
-    qd_18: 700.0
-    qd_30: 690.0
+    wheel_speed_drop_threshold: 13.0
+    wheel_speed_raise_threshold: 3.0
+    freq_threshold: 15.0

config/rm_ecat_hw/device_configurations/drone.yaml

@@ -0,0 +1,45 @@
+can_motors:
+  - can_id: 3
+    can_bus: 0
+    name: "left_friction_wheel_joint_motor"
+    type: "M3508"
+    need_calibration: false
+  - can_id: 2
+    can_bus: 1
+    name: "right_friction_wheel_joint_motor"
+    type: "M3508"
+    need_calibration: false
+  - can_id: 1
+    can_bus: 0
+    name: "trigger_joint_motor"
+    type: "M2006"
+    need_calibration: true
+  - can_id: 7
+    can_bus: 0
+    name: "pitch_joint_motor"
+    type: "M3508"
+    need_calibration: true
+  - can_id: 5
+    can_bus: 0
+    name: "yaw_joint_motor"
+    type: "GM6020"
+
+# dshot_motors:
+#   - channel: 4
+#     name: "left_friction_wheel_joint_motor"
+#     type: "A2212KV980"
+#     need_change_direction: true
+#   - channel: 1
+#     name: "right_friction_wheel_joint_motor"
+#     type: "A2212KV980"
+#     need_change_direction: false
+#   - channel: 3
+#     name: "mid_friction_wheel_joint_motor"  
+#     type: "A2212KV980"
+#     need_change_direction: false
+can_imus:
+  - can_bus: 0
+    name: "gimbal_imu"
+    bias: [  0.0005827, 0.000203466, -0.00362083 ]
+dbus:
+  - name: "dbus"

config/rm_ecat_hw/drone.yaml

@@ -0,0 +1,9 @@
+ethercat_master:
+  time_step: 0.001
+
+ethercat_devices:
+  - type: Rm
+    name: RmSlave1
+    configuration_file: device_configurations/drone.yaml
+    ethercat_bus: enp89s0
+    ethercat_address: 1

config/rm_manual/drone.yaml

@@ -1,16 +1,16 @@
 rm_manual:
   robot_type: "drone"
-  chassis_calibrate_motor: [ ]
-  gimbal_calibrate_motor: [ "pitch_joint_motor" ]
-  shooter_calibrate_motor: [ "trigger_joint_motor" ]
+  chassis_calibrate_motor: []
+  gimbal_calibrate_motor: ["pitch_joint_motor"]
+  shooter_calibrate_motor: ["trigger_joint_motor"]
   chassis:
     topic: "/cmd_chassis"
     accel_x:
-      - [ 50.0,99.0 ]
+      - [50.0, 99.0]
     accel_y:
-      - [ 50.0,99.0 ]
+      - [50.0, 99.0]
     accel_z:
-      - [ 50.0,99.0 ]
+      - [50.0, 99.0]
     safety_power: 50
     capacitor_threshold: 0.2
     charge_power: 20
@@ -22,20 +22,20 @@ rm_manual:
     topic: "/cmd_vel"
     power_limit_topic: "/cmd_chassis"
     max_linear_x:
-      - [ 50.0,2.1 ]
-      - [ 80.0,2.8 ]
-      - [ 100.0,3.2 ]
-      - [ 220.0, 5.0 ]
+      - [50.0, 2.1]
+      - [80.0, 2.8]
+      - [100.0, 3.2]
+      - [220.0, 5.0]
     max_linear_y:
-      - [ 50.0,2.1 ]
-      - [ 80.0,2.8 ]
-      - [ 100.0,3.2 ]
-      - [ 220.0,5.0 ]
+      - [50.0, 2.1]
+      - [80.0, 2.8]
+      - [100.0, 3.2]
+      - [220.0, 5.0]
     max_angular_z:
-      - [ 50.0,10.5 ]
-      - [ 80.0,15.0 ]
-      - [ 100.0,18.0 ]
-      - [ 220.0,20.0 ]
+      - [50.0, 10.5]
+      - [80.0, 15.0]
+      - [100.0, 18.0]
+      - [220.0, 20.0]
     gyro_move_reduction: 0.4
     gyro_rotate_reduction: 0.4
   gimbal:
@@ -53,28 +53,42 @@ rm_manual:
       timeout: 0.05
   shooter:
     topic: "/controllers/shooter_controller/command"
-    track_armor_error_tolerance: 1
+    track_armor_error_tolerance: 0.07
+    track_buff_error_tolerance: 0.07
     target_acceleration_tolerance: 99.
-    speed_10m_per_speed: 10.0
-    speed_15m_per_speed: 13.5
-    speed_16m_per_speed: 16.0
-    speed_18m_per_speed: 15.72
-    speed_30m_per_speed: 27.5
-    wheel_speed_15: 770.0
-    wheel_speed_18: 770.0
-    wheel_speed_30: 770.0
+    speed_10m_per_speed: 22.5
+    speed_15m_per_speed: 22.5
+    speed_16m_per_speed: 22.5
+    speed_18m_per_speed: 22.5
+    speed_30m_per_speed: 22.5
+    wheel_speed_15: 715
+    wheel_speed_18: 715
+    wheel_speed_30: 715
     extra_wheel_speed_once: 5.0
     heat_limit:
-      low_shoot_frequency: 20
-      high_shoot_frequency: 20
-      burst_shoot_frequency: 20
-      minimal_shoot_frequency: 20
-      safe_shoot_frequency: 20
+      low_shoot_frequency: 6
+      high_shoot_frequency: 6
+      burst_shoot_frequency: 6
+      minimal_shoot_frequency: 6
+      safe_shoot_frequency: 6
       heat_coeff: 8.0
+      use_local_heat: true
+      local_heat_protect_threshold: 20
       type: "ID1_17MM"
+  camera:
+    topic: "/camera_name"
+    camera_left_name: "hk_camera"
+    camera_right_name: "hk_camera"
+#    camera:
+#      topic: "/camera_name"
+#      camera_left_name: "camera_right"
+#      camera_right_name: "camera_left"
   detection_switch:
     fail_limit: 10
-    service_name: "/Processor/status_switch"
+    service_name: "/Processor_/status_change"
+  detection_switch_left:
+    fail_limit: 10
+    service_name: "/Processor_left/status_switch"
 
   controllers_list:
     state_controllers:
@@ -84,6 +98,7 @@ rm_manual:
       - controllers/orientation_controller
       - controllers/gimbal_controller
       - controllers/shooter_controller
+
     calibration_controllers:
       - controllers/trigger_calibration_controller
       - controllers/gimbal_calibration_controller

config/rm_referee/drone.yaml

@@ -3,29 +3,37 @@ rm_referee:
   send_ui_queue_delay: 0.05
   add_ui_frequency: 5
   add_ui_max_times: 10
-  dbus_topic: "/dbus_data"
+  dbus_topic: "/rm_ecat_hw/dbus"
   interactive_data:
   ui:
     trigger_change:
       - name: "gimbal"
-        config: { start_position: [ 400, 800 ], size: 15, width: 2, title: "gimbal:  " }
+        config: { start_position: [ 400, 850 ], size: 15, width: 2, title: "gimbal:  " }
       - name: "shooter"
-        config: { start_position: [ 400, 750 ], size: 15, width: 2, title: "shooter: " }
+        config: { start_position: [ 400, 800 ], size: 15, width: 2, title: "shooter: " }
       - name: "target"
-        config: { start_position: [ 400, 700 ], size: 15, width: 2, title: "target: " }
+        config: { start_position: [ 400, 750 ], size: 15, width: 2, title: "target: " }
+      - name: "camera"
+        config: { start_position: [ 400, 700 ], size: 15, width: 2, title: "camera: " }
       - name: "target_view_angle"
-        config: { type: "rectangle", start_position: [ 862, 476 ], end_position: [ 1012, 597 ], width: 3 }
+        config: { type: "rectangle", start_position: [ 840, 440 ], end_position: [ 1060, 620 ], width: 3 }
+        own_camera_name: "camera_left"
+      - name: "far_target_view_angle"
+        config: { type: "rectangle", start_position: [ 840, 440 ], end_position: [ 1050, 620], width: 3 }
+        own_camera_name: "camera_right"
     time_change:
       - name: "drone_towards"
         config: { type: "line", width: 10 ,color: "pink", delay: 0.2 }
         data: { ori_x: 1500, ori_y: 800 }
       - name: "target_distance"
-        config: { type: "float_num", start_position: [ 190, 650 ], size: 25, width: 3 ,color: "yellow", delay: 0.2 }
-
+        config: { type: "float_num", start_position: [ 850, 750 ], size: 25, width: 3 ,color: "yellow", delay: 0.2 }
+      - name: "target_hp"
+        config: { type: "int_num", start_position: [ 850, 700 ], width: 3, size: 25, color: "yellow", delay: 0.3 }
+        enemy_id: [ 1, 2, 3, 4, 5, 7 ]
     flash:
-      - name: "exceed_bullet_speed"
-        config: { start_position: [ 850, 850 ], size: 20, width: 2,
-                  color: "yellow", content: "Exceed Speed!!", delay: 1.0 }
+      - name: "rune_remind"
+        config: { start_position: [ 880, 700 ], size: 35, width: 3,
+                  color: "purple", content: "REMIND", delay: 0.5 }
     fixed:
       - name: "9m"
         config: { type: "line", width: 3, color: "yellow",