From 64cdeb7ae1b355366d47428eb8936cf1d546f05c Mon Sep 17 00:00:00 2001
From: ZHAISHUI04 <3150778793@qq.com>
Date: Sat, 31 May 2025 15:10:24 +0800
Subject: [PATCH] =?UTF-8?q?=E6=8A=8A=E4=B8=8A=E5=B1=82=E4=B9=9F=E6=94=B9?=
 =?UTF-8?q?=E4=BA=86=EF=BC=8C=E9=81=BF=E5=85=8D=E6=96=B0=E6=9C=BA=E6=9E=84?=
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---
 User/Module/config.c  |  4 ++--
 User/Module/up.c      | 14 +++++++-------
 User/device/can_use.c |  3 ++-
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/User/Module/config.c b/User/Module/config.c
index 65a65cd..93311b2 100644
--- a/User/Module/config.c
+++ b/User/Module/config.c
@@ -110,13 +110,13 @@ static const ConfigParam_t param ={
 },
     /*投球*/
     .PitchConfig_Config = {
-    .m2006_init_angle =-90,    
+    .m2006_init_angle =-100,    
 	  .m2006_trigger_angle =0,
     .go1_init_position = -50, 
 		.go1_Receive_ball  = -5, //偏下	
 	  .go1_release_threshold =-210,
 		.m2006_Screw_init=0,	
-		.Pitch_angle  =56,
+		.Pitch_angle  =58,
 },
 	
 	
diff --git a/User/Module/up.c b/User/Module/up.c
index df7dcd1..50969eb 100644
--- a/User/Module/up.c
+++ b/User/Module/up.c
@@ -317,7 +317,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 		{
 
 			if(u->DribbleContext.DribbleState== DRIBBLE_PREPARE){
-				u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE;			
+				u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;			
 			}
 			//光电状态更新
 			 Dribble_Process(u,out);
@@ -444,8 +444,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 		case DRIBBLE_PROCESS_DOWN:
 			
 			u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_speed;
-			u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed;
-			u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_speed;
+			u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_speed;
+			u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_speed;
 
 		  if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm,
 				u->motorfeedback .DJmotor_feedback [1].rpm,
@@ -461,8 +461,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 			if(common_speed_flag){
 				if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){//球下落检测，反转
 				u->motor_target.Dribble_M3508_speed[0]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
-				u->motor_target.Dribble_M3508_speed[1]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
-				u->motor_target.Dribble_M3508_speed[2]=-u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
+				u->motor_target.Dribble_M3508_speed[1]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
+				u->motor_target.Dribble_M3508_speed[2]=u->DribbleContext .DribbleConfig.m3508_dribble_Reverse_speed;
 
 			  u->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP;
 				}
@@ -475,8 +475,8 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
 							  common_speed_flag =0;
 
 			  if((u->motorfeedback .DJmotor_feedback [0].rpm<-2000)&&			
-			     (u->motorfeedback .DJmotor_feedback [1].rpm>2000)&&
-			     (u->motorfeedback .DJmotor_feedback [2].rpm>2000) 
+			     (u->motorfeedback .DJmotor_feedback [1].rpm>-2000)&&
+			     (u->motorfeedback .DJmotor_feedback [2].rpm>-2000) 
 			   ){
 		
 				   if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){
diff --git a/User/device/can_use.c b/User/device/can_use.c
index 4010af2..24de7ac 100644
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@@ -93,7 +93,8 @@ void CAN_Encoder_Decode(CAN_EncoderFeedback_t *feedback,
 	    { 
 				case 0x01:
 				feedback->ecd =raw[3]|raw[4]<<8|raw[5]<<16|raw[6]<<24;
-				feedback->angle=(fp32)feedback->ecd*360/CAN_ENCODER_RESOLUTION-151.0f;
+				feedback->angle=(fp32)(2048-(fp32)feedback->ecd)/(2048-1797)*(70.0f-48.0f)+48.0f;
+				
 				break;
 			}
 		}