├── README.md ├── a.out ├── start.sh ├── main.py └── udp2uart.cpp /README.md: -------------------------------------------------------------------------------- 1 | # 长空御风RM2023自定义控制器源代码 2 | custom controller 3 | -------------------------------------------------------------------------------- /a.out: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AbabalaT/robomaster_custom_controller/HEAD/a.out -------------------------------------------------------------------------------- /start.sh: -------------------------------------------------------------------------------- 1 | sudo uhubctl -l 2 -a cycle -p 1-4 2 | sleep 5 3 | sudo chmod 777 /dev/ttyUSB0 4 | sleep 1 5 | gnome-terminal -x /home/ckyf/controller/a.out 6 | sudo python3 /home/ckyf/controller/main.py 7 | -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- 1 | import pyrealsense2.pyrealsense2 as rs 2 | import serial 3 | import struct 4 | import math 5 | import RPi.GPIO as GPIO 6 | from socket import * 7 | from time import sleep 8 | 9 | addr = ('127.0.0.1', 1180) 10 | #头段 11 | SOF = 0xa5 12 | data_length = 30 #data段长度 13 | seq = 0x00 #包序号，每一次加一 14 | crc8 = 0x00 15 | #命令字 16 | cmd_id = 0x0302 17 | #数据段 18 | key_1 = 0xff 19 | key_2 = 0xff 20 | 21 | location_x = 0.0 22 | location_y = 0.0 23 | location_z = 0.0 24 | roll = 0.0 25 | pitch = 0.0 26 | yaw = 0.0 27 | end_float = float("inf") 28 | #尾校验 29 | crc16 = 0x00 30 | 31 | if __name__ == '__main__': 32 | s = socket(AF_INET, SOCK_DGRAM) 33 | #uart_com = serial.Serial(port='/dev/ttyUSB0', baudrate=115200) 34 | GPIO.setmode(GPIO.BCM) 35 | GPIO.setup(17, GPIO.IN, pull_up_down=GPIO.PUD_UP) 36 | GPIO.setup(18, GPIO.IN, pull_up_down=GPIO.PUD_UP) 37 | GPIO.setup(27, GPIO.IN, pull_up_down=GPIO.PUD_UP) 38 | GPIO.setup(22, GPIO.IN, pull_up_down=GPIO.PUD_UP) 39 | GPIO.setup(4, GPIO.OUT) 40 | led_state = False 41 | led_toggle = 5 42 | GPIO.output(4, led_state) 43 | while(1): 44 | while(1): 45 | try: 46 | if not GPIO.input(17): #按键1按下 47 | break 48 | else: 49 | sleep(0.25) 50 | led_state = True 51 | led_toggle = 5 52 | GPIO.output(4, led_state) 53 | except KeyboardInterrupt: 54 | exit() 55 | try: 56 | pipe = rs.pipeline() 57 | cfg = rs.config() 58 | cfg.enable_stream(rs.stream.pose) 59 | pipe.start(cfg) 60 | except: 61 | print('start fail, retrying!') 62 | continue 63 | while(not GPIO.input(17)): #按键1按下 64 | try: 65 | try: 66 | frames = pipe.wait_for_frames() 67 | except: 68 | print('Device disconnected!') 69 | pipe.stop() 70 | break 71 | pose = frames.get_pose_frame() 72 | if pose: 73 | led_toggle = led_toggle - 1 74 | if led_toggle < 0: 75 | led_toggle = 5 76 | if led_state: 77 | led_state = False 78 | else: 79 | led_state = True 80 | GPIO.output(4, led_state) 81 | #print(seq) 82 | data = pose.get_pose_data() 83 | w = data.rotation.w 84 | x = -data.rotation.z 85 | y = data.rotation.x 86 | z = -data.rotation.y 87 | pitch = -math.asin(2.0 * (x*z - w*y)) * 180.0 / math.pi + 15.0 88 | roll = math.atan2(2.0 * (w*x + y*z), w*w - x*x - y*y + z*z) * 180.0 / math.pi - 40.0 89 | yaw = math.atan2(2.0 * (w*z + x*y), w*w + x*x - y*y - z*z) * 180.0 / math.pi 90 | 91 | if GPIO.input(18): 92 | location_y = data.velocity.x 93 | location_x = -data.velocity.z 94 | location_z = data.velocity.y 95 | else: 96 | location_y = 0 97 | location_x = 0 98 | location_z = 0 99 | if GPIO.input(27): 100 | key_1 = 0x00 101 | else: 102 | key_1 = 0xff 103 | if GPIO.input(22): 104 | key_2 = 0x00 105 | else: 106 | key_2 = 0xff 107 | 108 | seq=seq+1 109 | if(seq > 255): 110 | seq = 0 111 | 112 | head = struct.pack(" 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | 12 | using namespace std; 13 | 14 | auto uart_start(const char* uart_name){ 15 | auto uart_com = open(uart_name, O_RDWR); 16 | struct termios Opt; 17 | tcgetattr(uart_com, &Opt); 18 | cfsetispeed(&Opt,B115200); 19 | cfsetospeed(&Opt,B115200); 20 | tcsetattr(uart_com,TCSANOW,&Opt); 21 | return uart_com; 22 | } 23 | 24 | const unsigned char CRC8_INIT = 0xff; 25 | const unsigned char CRC8_TAB[256] = 26 | { 27 | 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, 28 | 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 29 | 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, 30 | 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 31 | 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 32 | 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 0x65, 0x3b, 0xd9, 0x87, 33 | 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 34 | 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 35 | 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, 36 | 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 37 | 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 38 | 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, 39 | 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 40 | 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, 0x88, 41 | 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, 42 | 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, 43 | }; 44 | 45 | unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,unsigned int dwLength,unsigned char ucCRC8) { 46 | unsigned char ucIndex; 47 | while (dwLength--) { 48 | ucIndex = ucCRC8^(*pchMessage++); 49 | ucCRC8 = CRC8_TAB[ucIndex]; 50 | } 51 | return(ucCRC8); 52 | } 53 | 54 | uint16_t CRC_INIT = 0xffff; 55 | const uint16_t wCRC_Table[256] = 56 | { 57 | 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 58 | 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 59 | 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 60 | 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 61 | 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 62 | 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 63 | 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 64 | 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 65 | 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 66 | 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 67 | 0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 68 | 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 69 | 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 70 | 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 71 | 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 72 | 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 73 | 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 74 | 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, 75 | 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 76 | 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 77 | 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 78 | 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 79 | 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134, 80 | 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 81 | 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 82 | 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 83 | 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 84 | 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 85 | 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 86 | 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 87 | 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 88 | 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 89 | }; 90 | 91 | uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC){ 92 | uint8_t chData; 93 | if (pchMessage == NULL){ 94 | return 0xFFFF; 95 | } 96 | while(dwLength--){ 97 | chData = *pchMessage++; 98 | (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff]; 99 | } 100 | return wCRC; 101 | } 102 | 103 | 104 | int main() { 105 | int port = 1180; 106 | int sockfd; 107 | sockaddr_in addr; 108 | unsigned char recv_buf[64]; 109 | int recv_num = 0; 110 | auto ttyUSB = uart_start("/dev/ttyUSB0"); 111 | sockfd = socket(AF_INET, SOCK_DGRAM, 0); 112 | 113 | memset(&addr, 0, sizeof(addr)); 114 | addr.sin_family = AF_INET; 115 | addr.sin_port = htons(port); 116 | addr.sin_addr.s_addr = inet_addr("127.0.0.1"); 117 | socklen_t addr_len = sizeof(addr); 118 | cout<<"ready to receive message."<