135 lines
4.9 KiB
C#
135 lines
4.9 KiB
C#
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using System;
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using System.Collections.Generic;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using CommonUsage.Chassis;
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using MDCSToolBox.Commons.Controllers;
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using MyParking.Shared;
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namespace MultiWheelC
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{
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public class MultiWheelRotateInPlace : MovementDefinition
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{
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/// <summary>
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/// 旋转目标角度
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/// </summary>
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public float AngleTarget;
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public Func<float> ThetaReader = () => (float)DetourInterface.getCartLocation().th;
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public MultiWheelChassis Chassis = (MultiWheelChassis)PilotDefinition.Chassis;
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public Func<PIDParams> PidparamsRead = () => new PIDParams() { };
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public PIDController thPid;
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// 将本周期PID角速度输出提供给实验记录器，单位deg/s。
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public Action<float> CommandAngularSpeedObserver;
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// 自转前舵轮实际角度允许误差，单位deg。
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public float WheelAlignmentToleranceDegrees = 2f;
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// 自转舵轮连续保持到位的时间，单位s。
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public float WheelAlignmentStableSeconds = 0.3f;
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// 自转舵轮准备超时时间，单位s。
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public float WheelAlignmentTimeoutSeconds = 10f;
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// 先准备自转舵角，再通过安全版SendXYThSpeed闭环旋转到目标角度。
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public override IEnumerable<bool> Get()
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{
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if (Chassis == null)
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throw new InvalidOperationException(
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"当前底盘不是MultiWheelChassis，无法执行原地自转。");
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var adapter = new MultiWheelChassisAdapter(
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Chassis,
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PilotDefinition.Self.CarNum);
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adapter.ResetToBodyFrame();
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try
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{
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var alignmentStarted = DateTime.Now;
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DateTime? alignedSince = null;
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while (true)
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{
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if (!adapter.PrepareSpin())
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throw new InvalidOperationException(
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"无法生成原地自转舵轮目标：" +
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adapter.LastFailureReason);
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if (adapter.AreSpinWheelsAligned)
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{
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if (alignedSince == null)
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alignedSince = DateTime.Now;
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if ((DateTime.Now - alignedSince.Value)
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.TotalSeconds >=
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WheelAlignmentStableSeconds)
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break;
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}
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else
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{
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alignedSince = null;
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}
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if ((DateTime.Now - alignmentStarted)
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.TotalSeconds >
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WheelAlignmentTimeoutSeconds)
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throw new TimeoutException(
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"原地自转舵轮在限定时间内未稳定到位。");
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yield return true;
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}
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var targetAngle =
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(float)AngleMath.NormalizeDegrees(AngleTarget);
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var p = PidparamsRead();
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thPid = new PIDController(ThetaReader, p.Kp);
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thPid.ChangeParameters(p.Kp, p.Ki, p.Kd, p.MaxI, p.DeadZone,
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p.OutputUpperThreshold, p.SpeedAccPerSec);
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var lastCommandTime = DateTime.Now;
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while (true)
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{
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var s = thPid.GetResponse(targetAngle, true);
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Console.WriteLine($"s:{s} AngleTarget:{AngleTarget}");
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CommandAngularSpeedObserver?.Invoke(s);
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var now = DateTime.Now;
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var interval = now - lastCommandTime;
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lastCommandTime = now;
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// PID输出s为deg/s，Shared命令统一使用rad/s。
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// adapter.Send最终调用普通安全版SendXYThSpeed。
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var omegaRadiansPerSecond =
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(float)AngleMath.DegreesToRadians(s);
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if (!adapter.Send(
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new ChassisCommand(
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PilotDefinition.Self.CarNum,
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new Twist2D(
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0.0,
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0.0,
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omegaRadiansPerSecond)),
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interval))
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{
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throw new InvalidOperationException(
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"安全XYTh原地旋转底盘解算失败：" +
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adapter.LastFailureReason);
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}
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if (thPid.IsArrived()) break;
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yield return true;
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}
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Console.WriteLine($"final rotate to {targetAngle}");
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}
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finally
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{
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CommandAngularSpeedObserver?.Invoke(0f);
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adapter.StopImmediately();
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}
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}
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}
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}
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