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Merged
YoujianWu merged 2 commits into from
Jun 3, 2025
Merged

Optimize the judgment method of local heat #198

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5bfeca8
Optimize the judgment method of local heat.
chen-gr Jun 1, 2025
ece205b
Fix code format.
chen-gr Jun 1, 2025
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7 changes: 5 additions & 2 deletions rm_shooter_controllers/include/rm_shooter_controllers/standard.h
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include <hardware_interface/joint_command_interface.h>
#include <rm_common/hardware_interface/robot_state_interface.h>
#include <rm_common/ros_utilities.h>
#include <rm_common/filters/lp_filter.h>
#include <realtime_tools/realtime_publisher.h>
#include <dynamic_reconfigure/server.h>
#include <rm_shooter_controllers/ShooterConfig.h>
Expand Down Expand Up @@ -90,6 +91,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
effort_controllers::JointPositionController ctrl_trigger_;
std::vector<std::vector<double>> wheel_speed_offsets_;
std::vector<std::vector<double>> wheel_speed_directions_;
LowPassFilter* lp_filter_;
int push_per_rotation_{}, count_{};
double push_wheel_speed_threshold_{};
double freq_threshold_{};
Expand All @@ -102,8 +104,9 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
double friction_block_effort_{}, friction_block_vel_{};
double anti_friction_block_duty_cycle_{}, anti_friction_block_vel_{};
bool has_shoot_ = false, has_shoot_last_ = false;
bool wheel_speed_raise_ = true, wheel_speed_drop_ = true;
double last_wheel_speed_{};
bool wheel_speed_drop_ = true;
double last_fricition_speed_{};
double last_friction_change_speed_{};

ros::Time last_shoot_time_, block_time_, last_block_time_;
enum
Expand Down
52 changes: 19 additions & 33 deletions rm_shooter_controllers/src/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
wheel_speed_offsets_.push_back(wheel_speed_offset_temp);
wheel_speed_directions_.push_back(wheel_speed_direction_temp);
}
lp_filter_ = new LowPassFilter(controller_nh);
ros::NodeHandle nh_trigger = ros::NodeHandle(controller_nh, "trigger");
return ctrl_trigger_.init(effort_joint_interface_, nh_trigger);
}
Expand Down Expand Up @@ -338,45 +339,30 @@ void Controller::normalize()

void Controller::judgeBulletShoot(const ros::Time& time, const ros::Duration& period)
{
lp_filter_->input(ctrls_friction_[0][0]->joint_.getVelocity());
double friction_speed = lp_filter_->output();
double friction_change_speed = abs(friction_speed) - last_fricition_speed_;
double friction_change_speed_derivative = friction_change_speed - last_friction_change_speed_;
if (state_ != STOP)
{
if (abs(ctrls_friction_[0][0]->joint_.getVelocity()) - last_wheel_speed_ > config_.wheel_speed_raise_threshold &&
wheel_speed_drop_)
{
wheel_speed_raise_ = true;
wheel_speed_drop_ = false;
}

if (last_wheel_speed_ - abs(ctrls_friction_[0][0]->joint_.getVelocity()) > config_.wheel_speed_drop_threshold &&
abs(ctrls_friction_[0][0]->joint_.getVelocity()) > 300. && wheel_speed_raise_)
{
wheel_speed_drop_ = true;
wheel_speed_raise_ = false;
if (friction_change_speed_derivative > 0 && has_shoot_)
has_shoot_ = false;
if (friction_change_speed < -config_.wheel_speed_drop_threshold && !has_shoot_ &&
friction_change_speed_derivative < 0)
has_shoot_ = true;
}
}
double friction_change_vel = abs(ctrls_friction_[0][0]->joint_.getVelocity()) - last_wheel_speed_;
last_wheel_speed_ = abs(ctrls_friction_[0][0]->joint_.getVelocity());
count_++;
if (has_shoot_last_)
{
has_shoot_ = true;
}
has_shoot_last_ = has_shoot_;
if (count_ == 2)
last_fricition_speed_ = abs(friction_speed);
last_friction_change_speed_ = friction_change_speed;

if (local_heat_state_pub_->trylock())
{
if (local_heat_state_pub_->trylock())
{
local_heat_state_pub_->msg_.stamp = time;
local_heat_state_pub_->msg_.has_shoot = has_shoot_;
local_heat_state_pub_->msg_.friction_change_vel = friction_change_vel;
local_heat_state_pub_->unlockAndPublish();
}
has_shoot_last_ = false;
count_ = 0;
local_heat_state_pub_->msg_.stamp = time;
local_heat_state_pub_->msg_.has_shoot = has_shoot_;
local_heat_state_pub_->msg_.friction_speed = friction_speed;
local_heat_state_pub_->msg_.friction_change_speed = friction_change_speed;
local_heat_state_pub_->msg_.friction_change_speed_derivative = friction_change_speed_derivative;
local_heat_state_pub_->unlockAndPublish();
}
if (has_shoot_)
has_shoot_ = false;
}
void Controller::reconfigCB(rm_shooter_controllers::ShooterConfig& config, uint32_t /*level*/)
{
Expand Down
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