From 0b0ba31a48fd7e7d4e41c4a3e2c20d703fbb38ff Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Wed, 7 May 2025 23:28:50 +0800 Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E5=B1=82=E5=92=8C=E5=BA=95=E7=9B=98?= =?UTF-8?q?=E5=9D=87=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/main.h | 10 +++- Core/Src/gpio.c | 14 ++++-- Core/Src/main.c | 2 +- MDK-ARM/R2.uvoptx | 93 +++++++++++++++++-------------------- MDK-ARM/R2.uvprojx | 5 -- MDK-ARM/R2/R2.axf | Bin 2836540 -> 2842368 bytes R2.ioc | 52 +++++++++++++++------ User/Algorithm/user_math.c | 42 +++++++++++++++++ User/Algorithm/user_math.h | 2 + User/Module/Chassis.c | 13 +++--- User/Module/config.c | 12 +++-- User/Module/up.c | 58 ++++++++++++++++------- User/Module/up.h | 10 ++++ User/task/chassis_task.c | 4 +- 14 files changed, 212 insertions(+), 105 deletions(-) diff --git a/Core/Inc/main.h b/Core/Inc/main.h index 9f65da1..9d6d8cb 100644 --- a/Core/Inc/main.h +++ b/Core/Inc/main.h @@ -75,11 +75,17 @@ void Error_Handler(void); #define ACCL_INT_Pin GPIO_PIN_4 #define ACCL_INT_GPIO_Port GPIOC #define ACCL_INT_EXTI_IRQn EXTI4_IRQn +#define LIGHT_C_Pin GPIO_PIN_13 +#define LIGHT_C_GPIO_Port GPIOE #define GYRO_INT_Pin GPIO_PIN_5 #define GYRO_INT_GPIO_Port GPIOC #define GYRO_INT_EXTI_IRQn EXTI9_5_IRQn -#define FlagForUpper_Pin GPIO_PIN_9 -#define FlagForUpper_GPIO_Port GPIOE +#define LIGHT_A_Pin GPIO_PIN_9 +#define LIGHT_A_GPIO_Port GPIOE +#define LIGHT_B_Pin GPIO_PIN_11 +#define LIGHT_B_GPIO_Port GPIOE +#define RELAY_Pin GPIO_PIN_14 +#define RELAY_GPIO_Port GPIOE #define GYRO_CS_Pin GPIO_PIN_0 #define GYRO_CS_GPIO_Port GPIOB diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 7b59a61..3fe1da3 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -61,7 +61,7 @@ void MX_GPIO_Init(void) HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET); /*Configure GPIO pin Output Level */ - HAL_GPIO_WritePin(FlagForUpper_GPIO_Port, FlagForUpper_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(RELAY_GPIO_Port, RELAY_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET); @@ -92,12 +92,18 @@ void MX_GPIO_Init(void) GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + /*Configure GPIO pins : PEPin PEPin */ + GPIO_InitStruct.Pin = LIGHT_C_Pin|LIGHT_B_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + /*Configure GPIO pin : PtPin */ - GPIO_InitStruct.Pin = FlagForUpper_Pin; + GPIO_InitStruct.Pin = RELAY_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - HAL_GPIO_Init(FlagForUpper_GPIO_Port, &GPIO_InitStruct); + HAL_GPIO_Init(RELAY_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : PtPin */ GPIO_InitStruct.Pin = GYRO_CS_Pin; diff --git a/Core/Src/main.c b/Core/Src/main.c index 557aee4..f48044b 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -80,7 +80,7 @@ int main(void) /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ - HAL_Init(); + HAL_Init(); /* USER CODE BEGIN Init */ diff --git a/MDK-ARM/R2.uvoptx b/MDK-ARM/R2.uvoptx index 19d1e8d..df637c7 100644 --- a/MDK-ARM/R2.uvoptx +++ b/MDK-ARM/R2.uvoptx @@ -208,7 +208,12 @@ 11 1 - \\R2\../User/task/up_task.c\UP.motorfeedback.DJmotor_feedback + Nor_Vx + + + 12 + 1 + Nor_Vy @@ -972,18 +977,6 @@ 0 0 0 - ..\User\bsp\map.c - map.c - 0 - 0 - - - 7 - 56 - 1 - 0 - 0 - 0 ..\User\bsp\bsp_can.c bsp_can.c 0 @@ -991,7 +984,7 @@ 7 - 57 + 56 1 0 0 @@ -1003,7 +996,7 @@ 7 - 58 + 57 1 0 0 @@ -1015,7 +1008,7 @@ 7 - 59 + 58 5 0 0 @@ -1027,7 +1020,7 @@ 7 - 60 + 59 1 0 0 @@ -1039,7 +1032,7 @@ 7 - 61 + 60 1 0 0 @@ -1051,7 +1044,7 @@ 7 - 62 + 61 1 0 0 @@ -1071,7 +1064,7 @@ 0 8 - 63 + 62 1 0 0 @@ -1083,7 +1076,7 @@ 8 - 64 + 63 1 0 0 @@ -1095,7 +1088,7 @@ 8 - 65 + 64 1 0 0 @@ -1107,7 +1100,7 @@ 8 - 66 + 65 1 0 0 @@ -1119,7 +1112,7 @@ 8 - 67 + 66 1 0 0 @@ -1131,7 +1124,7 @@ 8 - 68 + 67 1 0 0 @@ -1143,7 +1136,7 @@ 8 - 69 + 68 1 0 0 @@ -1155,7 +1148,7 @@ 8 - 70 + 69 1 0 0 @@ -1167,7 +1160,7 @@ 8 - 71 + 70 1 0 0 @@ -1179,7 +1172,7 @@ 8 - 72 + 71 1 0 0 @@ -1199,7 +1192,7 @@ 0 9 - 73 + 72 1 0 0 @@ -1211,7 +1204,7 @@ 9 - 74 + 73 1 0 0 @@ -1223,7 +1216,7 @@ 9 - 75 + 74 1 0 0 @@ -1235,7 +1228,7 @@ 9 - 76 + 75 1 0 0 @@ -1247,7 +1240,7 @@ 9 - 77 + 76 1 0 0 @@ -1259,7 +1252,7 @@ 9 - 78 + 77 1 0 0 @@ -1279,7 +1272,7 @@ 0 10 - 79 + 78 1 0 0 @@ -1291,7 +1284,7 @@ 10 - 80 + 79 1 0 0 @@ -1303,7 +1296,7 @@ 10 - 81 + 80 1 0 0 @@ -1315,7 +1308,7 @@ 10 - 82 + 81 1 0 0 @@ -1327,7 +1320,7 @@ 10 - 83 + 82 1 0 0 @@ -1339,7 +1332,7 @@ 10 - 84 + 83 1 0 0 @@ -1351,7 +1344,7 @@ 10 - 85 + 84 1 0 0 @@ -1371,7 +1364,7 @@ 0 11 - 86 + 85 1 0 0 @@ -1383,7 +1376,7 @@ 11 - 87 + 86 1 0 0 @@ -1395,7 +1388,7 @@ 11 - 88 + 87 1 0 0 @@ -1415,7 +1408,7 @@ 0 12 - 89 + 88 1 0 0 @@ -1435,7 +1428,7 @@ 0 13 - 90 + 89 1 0 0 @@ -1447,7 +1440,7 @@ 13 - 91 + 90 1 0 0 @@ -1459,7 +1452,7 @@ 13 - 92 + 91 1 0 0 @@ -1471,7 +1464,7 @@ 13 - 93 + 92 1 0 0 diff --git a/MDK-ARM/R2.uvprojx b/MDK-ARM/R2.uvprojx index ee3c96d..2e3293a 100644 --- a/MDK-ARM/R2.uvprojx +++ b/MDK-ARM/R2.uvprojx @@ -1143,11 +1143,6 @@ 1 ..\User\bsp\pwm.c - - map.c - 1 - ..\User\bsp\map.c - bsp_can.c 1 diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index d54ecb2ad9c3e3ecc8606d93c3b2e94bf72b061f..d1b083c50fcf1d2c92bfdb32769e6c99a305eb1d 100644 GIT binary patch delta 126740 zcmdSBd3Y2>7dKi}Ju~U-lYJqC$p&E$t6`snFeGdVs|W}I0mB{;6cI^K#IT6LMj838)kHjALc}w8cS|B- z^@X)VqC=K;CL+P#XN-s)Hm^95*TSMGd(-t%#0km{HcBTWudU~Tk~@qTGWNHvXRDT0XiUMTbM-?4DsC1AXzq4;O4Bfo8E?}hgNZ89t_L|;$XSdW zrsnuRl#`E~O~?_{9A~5E?&HOz{9Jv$m*))RA7=S?=v>aTx=}Or?md-YpqJoh5L^TU zt;*no#&z`t@ygAtfOYk`@fCP$?)n$|DN`CNZW>o=?#6)H32L26{aNF=`oSunhMSrI 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GPIO_PIN_SET : GPIO_PIN_RESET) -#define RELAY2_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET) +#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, RELAY_Pin, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET) int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq) { @@ -257,20 +265,19 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) /*投篮*/ if(is_pitch){ u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; - is_pitch=0; - } - u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->motor_target .Shoot_Pitch_angle=u->PitchContext.PitchConfig.Pitch_angle; + is_pitch=0; + } //让初始go位置只读一次,后面按调整模式更改的来,后面稳定了之后,可以跟随调整模式下一块删 + u->motor_target .Shoot_M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 /*运球*/ RELAY1_TOGGLE(0);//关闭气缸 - - u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 u->motor_target.Dribble_M3508_speed=0; - + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 break; @@ -284,7 +291,8 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) Pitch_Process(u,out,c); break ; - case UP_Adjust: + case UP_Adjust: //测试用 + u->PitchContext.PitchConfig.go1_init_position += c->Vx ; u->PitchContext.PitchConfig.Pitch_angle += c->Vy/100; @@ -297,6 +305,10 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){ u->DribbleContext .DribbleState=DRIBBLE_PROCESS; } + //光电状态更新 + u->DribbleContext .DribbleConfig .light_ball_flag =read_flag_state(HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin)); + u->DribbleContext .DribbleConfig .light_3508_flag =read_flag_state(HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin)); + Dribble_Process(u,out); }break ; @@ -344,7 +356,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c) case PITCH_PULL_TRIGGER: - if(is_reached ( u->motorfeedback .DJmotor_feedback [0].total_angle,u->PitchContext .PitchConfig .m2006_trigger_angle,1.0f)) //当2006的总角度小于1,可以认为已经勾上,误差为1 + if(is_reached ( u->motorfeedback .DJmotor_feedback [4].total_angle,u->PitchContext .PitchConfig .m2006_trigger_angle,1.0f)) //当2006的总角度小于1,可以认为已经勾上,误差为1 { u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; } @@ -369,27 +381,41 @@ return 0; int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) { - + switch (u->DribbleContext.DribbleState) { case DRIBBLE_TRANSLATE: - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 - + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f)) + { + u->DribbleContext .DribbleState=DRIBBLE_PROCESS;//到达位置后,转移状态 + } break; case DRIBBLE_PROCESS: + u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_speed; if(is_reached(u->motorfeedback .DJmotor_feedback [0].rpm,u->motor_target.Dribble_M3508_speed,70.0f)&& is_reached(u->motorfeedback .DJmotor_feedback [1].rpm,u->motor_target.Dribble_M3508_speed,70.0f)&& is_reached(u->motorfeedback .DJmotor_feedback [2].rpm,u->motor_target.Dribble_M3508_speed,70.0f) ) { RELAY1_TOGGLE(1); //速度达到后打开气缸 + + if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测,反转 u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed; + } + } + if(u->DribbleContext .DribbleConfig .light_ball_flag == 2){//球上升检测,速度给0,转移状态 + u->DribbleContext .DribbleState=DRIBBLE_DONE; + } - break; case DRIBBLE_DONE: - u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_speed; - + u->motor_target.Dribble_M3508_speed=u->DribbleContext .DribbleConfig.m3508_dribble_init_speed ;//三摩擦速度归0 + /*标志位清零*/ + u->DribbleContext.DribbleConfig.light_ball_flag=0; + u->DribbleContext.DribbleConfig.light_3508_flag=0; + + break; default: // 处理未知状态 diff --git a/User/Module/up.h b/User/Module/up.h index 315be94..f2cdafb 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -85,11 +85,19 @@ typedef enum { /* 参数配置结构体 */ typedef struct { + int8_t dribble_flag;//当移动三摩擦后为1,否则为0,防止发射撞到 + fp32 m3508_init_angle; // 平移前位置 fp32 m3508_translate_angle; // 平移后位置 + fp32 m3508_dribble_init_speed; fp32 m3508_dribble_speed; // 转动速度 fp32 m3508_dribble_Reverse_speed; + + /*光电标志位,初始值均为0,触发为1*/ + uint8_t light_3508_flag;//3508平移处的光电,0初始,1到位置 + uint8_t light_ball_flag;//检测球的flag + } DribbleConfig_t; /* 状态机上下文 */ @@ -99,6 +107,8 @@ typedef struct { uint8_t is_initialized; + + } DribbleContext_t; diff --git a/User/task/chassis_task.c b/User/task/chassis_task.c index 40f6485..28549a0 100644 --- a/User/task/chassis_task.c +++ b/User/task/chassis_task.c @@ -51,9 +51,7 @@ void Task_Chassis(void *argument) uint32_t tick = osKernelGetTickCount(); - - HAL_GPIO_WritePin(FlagForUpper_GPIO_Port,FlagForUpper_Pin,GPIO_PIN_RESET); //拉低电平 避免未清除 - + while(1) { #ifdef DEBUG