feat: Fold climbable-infantry into maintained steering-infantry

rmcs_ws/src/rmcs_bringup/config/steering-infantry.yaml

@@ -2,18 +2,18 @@ rmcs_executor:
  ros__parameters:
  update_rate: 1000.0
  components:
- - rmcs_core::hardware::SteeringInfantry -> steeringInfantry_hardware
+ - rmcs_core::hardware::SteeringInfantry -> infantry_hardware
 
  - rmcs_core::referee::Status -> referee_status
- - rmcs_core::referee::Command -> referee_command
-
  - rmcs_core::referee::command::Interaction -> referee_interaction
  - rmcs_core::referee::command::interaction::Ui -> referee_ui
- # - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry
+ - rmcs_core::referee::app::ui::Infantry -> referee_ui_infantry
+ - rmcs_core::referee::Command -> referee_command
 
  - rmcs_core::controller::gimbal::SimpleGimbalController -> gimbal_controller
- - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller
  - rmcs_core::controller::pid::ErrorPidController -> pitch_angle_pid_controller
+ - rmcs_core::controller::pid::ErrorPidController -> yaw_angle_pid_controller
+ - rmcs_core::controller::pid::PidController -> yaw_velocity_pid_controller
 
  - rmcs_core::controller::shooting::FrictionWheelController -> friction_wheel_controller
  - rmcs_core::controller::shooting::HeatController -> heat_controller
@@ -26,47 +26,57 @@ rmcs_executor:
  - rmcs_core::controller::chassis::ChassisPowerController -> chassis_power_controller
  - rmcs_core::controller::chassis::SteeringWheelController -> steering_wheel_controller
 
-steeringInfantry_hardware:
+infantry_hardware:
  ros__parameters:
- board_serial_top_board: "(TODO)"
- board_serial_bottom_board: "(TODO)"
- yaw_motor_zero_point: 32285
- pitch_motor_zero_point: 6321
- left_front_zero_point: 7848
- left_back_zero_point: 5770
- right_back_zero_point: 2380
- right_front_zero_point: 1705
+ board_serial_top_board: "AF-B4E5-CE0E-4342-FF2C-F9E2-DE47-2D85-9B75"
+ board_serial_bottom_board: "AF-EEF5-24BA-6675-F1B1-C797-50AF-869C-870E"
+ yaw_motor_zero_point: 20993
+ pitch_motor_zero_point: 18874
+ left_front_zero_point: 1695
+ right_front_zero_point: 5068
+ left_back_zero_point: 7870
+ right_back_zero_point: 3141
+
 
 gimbal_controller:
  ros__parameters:
- upper_limit: -0.39518
- lower_limit: 0.36
+ upper_limit: -0.54
+ lower_limit: 0.274
+
+pitch_angle_pid_controller:
+ ros__parameters:
+ measurement: /gimbal/pitch/control_angle_error
+ control: /gimbal/pitch/control_velocity
+ kp: 15.0
+ ki: 0.0
+ kd: 1.5
 
 yaw_angle_pid_controller:
  ros__parameters:
  measurement: /gimbal/yaw/control_angle_error
  control: /gimbal/yaw/control_velocity
- kp: 16.0
+ kp: 20.0
  ki: 0.0
- kd: 0.0
+ kd: 0.9
 
-pitch_angle_pid_controller:
+yaw_velocity_pid_controller:
  ros__parameters:
- measurement: /gimbal/pitch/control_angle_error
- control: /gimbal/pitch/control_velocity
- kp: 10.00
- ki: 0.0
- kd: 0.0
+ measurement: /gimbal/yaw/velocity_imu
+ setpoint: /gimbal/yaw/control_velocity
+ control: /gimbal/yaw/control_torque
+ kp: 2.5
+ ki: 0.00
+ kd: 0.6
 
 friction_wheel_controller:
  ros__parameters:
  friction_wheels:
  - /gimbal/left_friction
  - /gimbal/right_friction
  friction_velocities:
- - 600.0
- - 600.0
- friction_soft_start_stop_time: 1.0
+ - 590.0
+ - 590.0
+ friction_soft_start_stop_time: 0.3
 
 heat_controller:
  ros__parameters:
@@ -75,8 +85,8 @@ heat_controller:
 
 bullet_feeder_controller:
  ros__parameters:
- bullets_per_feeder_turn: 10.0
- shot_frequency: 24.0
+ bullets_per_feeder_turn: 9.0
+ shot_frequency: 27.0
  safe_shot_frequency: 10.0
  eject_frequency: 15.0
  eject_time: 0.15
@@ -86,8 +96,8 @@ bullet_feeder_controller:
 
 shooting_recorder:
  ros__parameters:
- friction_wheel_count: 4
- log_mode: 2 # 1: trigger, 2: timing
+ friction_wheel_count: 2
+ log_mode: 1
 
 left_friction_velocity_pid_controller:
  ros__parameters:
@@ -112,15 +122,15 @@ bullet_feeder_velocity_pid_controller:
  measurement: /gimbal/bullet_feeder/velocity
  setpoint: /gimbal/bullet_feeder/control_velocity
  control: /gimbal/bullet_feeder/control_torque
- kp: 0.283
+ kp: 0.7
  ki: 0.0
  kd: 0.0
 
 steering_wheel_controller:
  ros__parameters:
- mess: 19.0
- moment_of_inertia: 1.0
- vehicle_radius: 0.24678
+ mess: 22.0
+ moment_of_inertia: 1.08
+ vehicle_radius: 0.28284271247462
  wheel_radius: 0.055
  friction_coefficient: 0.6
  k1: 2.958580e+00

rmcs_ws/src/rmcs_core/CMakeLists.txt

@@ -17,8 +17,8 @@ include(FetchContent)
 set(BUILD_STATIC_LIBRMCS ON CACHE BOOL "Build static librmcs SDK" FORCE)
 FetchContent_Declare(
  librmcs
- URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.2.0b0/librmcs-sdk-src-3.2.0-beta.0.zip
- URL_HASH SHA256=391b642a31473fdb639573912e0fc6266c3819d787b91440310cd1025af1dc3c
+ URL https://github.com/Alliance-Algorithm/librmcs/releases/download/v3.2.0/librmcs-sdk-src-3.2.0.zip
+ URL_HASH SHA256=f81c3af7fbcf35727a8a7586200db8e9bf668ee0f448529de4bfd3eb7c36ed6f
  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 FetchContent_MakeAvailable(librmcs)