From 7499e75a500f7e3a3b35405cd1f6c74b390dfd8a Mon Sep 17 00:00:00 2001 From: ZHAISHUI04 <3150778793@qq.com> Date: Sat, 24 May 2025 14:56:15 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=85=8D=E5=90=88=EF=BC=8C?= =?UTF-8?q?=E6=80=BB=E8=BF=87=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/R2/R2.axf | Bin 2843800 -> 2845380 bytes User/Module/config.c | 5 +- User/Module/up.c | 112 +++++++++++++++++++++++++++++++++++++------ User/Module/up.h | 38 ++++++++++----- 4 files changed, 126 insertions(+), 29 deletions(-) diff --git a/MDK-ARM/R2/R2.axf b/MDK-ARM/R2/R2.axf index 5c9f8b803476996b3c3fb2a01645936687acb426..60f8a975f5070234901f652c086b79db8e3dd850 100644 GIT binary patch delta 136519 zcmeFa33OD&)<0TxddNv<>P%!#x-&on2_#I0LFk0gbQr@7G9+P47{erkKmwwo32&{pbxwBx-}k*?z4g|6Z>^8DPM_Ml zcJ10#wQJX|U3J2aPY=^GUmvE`i8<+I9Z3NmPE9o3h=EXIB6<==s@@`o_A0^;-Awp@ zR1&@r?=eQguh=>?CbYII;R*hI#1TI3#jQWZ$9L~e`2HaGKmB}gc$cj|CAXP?g5`Kv zZlN#d&Wl1Q?L-dcC`QIzRjm`?|4I{el5Z?+{^S&p}lHi^v^GX8zp?z z0b*e7tvZOO?gdpdr%MEiSSto59uQvE{zT^ps{&#tu z)#dAS99<_24W397>kb4{HLb5ZsHc?n5Dtg;2JTvTG^LyCyb&K#dQkW<>Ke<5?pK+p zB8Kc^Sxwx=wKZx>h~+}l2wlyM5}o=^?qc=LGR}O98VwdIz1ec1X{0a5f}9P=;pCjX z$Qk9!8I7F%$Wh5T+gj9jrdE*Z3r(Ya`4z}N%MHIx7c!n>TGTV|5Sd_@kKi&0u7ZI^ zW-y>-Tho|$=|-MzThrk98obqaLMsBK4_j((n4eMKNnEVHvwo5JmR6>o3_*%yJ~wZu zbp{J3ed8d8V4M2RI-#+R(YUUZOQL_Qqg$JZPIJ>h=^s^eEz;&h&h+OGj4CpwYrr`V zMvHV4hQ`DUcx@vw=#LGTyj`e~H-t!b~2mBU#{S%~x&;BM%^-Az=`S3-Q723BZ#Ojt0&_&p4Yz2Ke&3-ss^r{H+^jvE znaN4ioY~(V6{K(?ukx7MLNY?67v1D`RW>oLK9BZghj7v?VRJ%P`nYg9A>pB=jxvmw z)wR2+K(`r<-QARrH;1`3sg(PxjbRg*iIn8(q1Wi)fP)<7M)!0ZXHHM+Y zSuZ(BPFkcY5?shvPy>-JIjbyDX*88DR7*d%FwDP!>18om)KX*%Ir;S!#*;I%mS+n~ zlTs>Q@bQZSKSAa<0Q_Qn{N8YCWqy(1cSz>9SH^Iup}=IgqiSiUzA?bYMu7*1MPA-& zUS4s6riNQIfM)6HJIq&KNq-Cqo2E7rXkW8 z=kVJr7uGgQcaApSxf>$2bqd#$`v(2!P}|5!Ha$)V-BU8+W}}GXg@2kEPrZUkG&24V`h*uDXCV*@`Z zqO52dIT-*w(}F^8AsbW*&Y;ZK0xdDPIX27Hmh=XKIipFHhPxOmATeXt; zn3c9Pd9V+w237^^XD$L|U|o}TC3utIO4}8C!>zHX@0?q#0tp9_d9DgH5t(nM?+gFZ zbH=fUo^fm&VKSCkJob^ow2ZXMN8MTr)J)pvV(nP~h)Ru~=s{W|gO|G5?{r`}wBt)> zs6kUr4eDyI{SjZe4KCKUQF6Is9)1vSWbg#J#a3YTDEGEgWmT6D!~QETV5$BNkJ3}5 zmJ>8>XHk_fukAG2A~d!gMPC;(+Lh8*>Yi%XpH4gBRTrwPy!3{bjlc8)Ms_nXNLziA z3WkN{zUbxfI~_C?Cs@Azn934tAx7S!Kfzfd8kk9|7})3tB-N#jju3Jlzm({wHaaw< zNSM+7(@2I-k@0CVz8&y+9g^C`G-eshlQJ zzkw0w15HVdTVa*gHHGN5!YZ$83dLK6cNpGkyfwOD+t#K4q;$aWcn9Gfhy@7I+C~`2WR*$Z zxE+8buzMz$8(j=ofILt7c|ZW^pp-yBVXq|5HzO;)7GBmEQ71CXAC z^tbM^mDCi|xD8Fb)Rfm+!!|Va?hOK1;IrBc2)6BR%JH?Xv)roPO<8g)<<75Ldw$pAQl0 zJJoaBnuUtaQI$_Omz0s4*{~<-J3m!urL{6#EyL{quaM#WGTa^T!sbg&;TS_S_6{4v zrGP_x@F>9Z00;WuiGXJS*7)FQfG0N-!yEESxF=tKEK5*j$5ozg$-5pO6bq{zCcTGr zLQuJd+h22I5Inuv@bU)hq#JW|!BUnZ_J$rb2V|O;nz*15*Y!c6QlU5RdQ#9!O(ba4 zb$!QBsS-#>xokS=?BYqmD)eRAWVAJeUHHeAA>aS1|vU0VNl*8 zoXc)Abn$&;5Btahyqj9dhWhGJ`yF(8q+KIVoAUov{tO(aY;G zh1IDcd(}62(qg|RV}pU^fDHgP7}%eL7joLg21_N5AcMzl@aj{ULGsx1y}{Be4&mFJ zP8nKhsY8N$d;#p(C6_bG}{5EdFN}ls6hi)w_}&?VOq&5Q~m=u=Ke0|^7^ci zPPRnF^30~OC2WukFK>nOW%zdMlGRIwM{E4_U1a#306*M8hQDnspDM%Sh1FfV(&IvH zS7#-062q-4Y&n+Q7K`CA&ZIrBG9{c>n`WKYm{vDd+qPj!ug5N8TT@q^-!af(mi5Fe z8=^Z3CxE#M^h=e&uy`Y=c~Fl4H80QM^_bW9(xZ?b)l0h3zr(hsk-cgv<-`bvh~L)K zu~&`!PGc|#6Bw-P0uR4iuOO+eIk%RkZdK)=W8$#hWEb)!o#B)0sI|@B(69|NL8&(I zzH0sHQ93n*dl;Tb8cKmPL{Ek2m5S`iUv6tk11h<-HPII#j*i&UY?qqiTCuu|w%ODa z(5L}3*_F-zOwM%)<$Kz{R1)nJaz9>|I*FYXIO?039;rAJ!djY z@PB|f!^{QqC8+eAi|uptNNtu=2BbFB1@suf8FK@bm5^j$Wh^{fN~K3#8cU$9Br&%( zy_QM~gcZ5{Dj8L9AI{81)L;pc_F~EQ*dK+j5S|(U_qJyB&~6l%-q)Gg+`m-P~TZoQH`|?>7CWG$uYlMjWrMO zyCpI6845}45g8eWiC})CWWF${XJ$X`#oQYk&`WD7sz4uU>xubs69&$&McOZOZ=7w- zS7G}oQ|@GMul;f1K+oQEOWl8Z{uMxr>%PmYq+FU)c%*-)2-)+N)mVci)MHmUg`NF7 z(L;5g_J39#x3=Hv6HH9@AR+W}{?5}u++$zfU*dIZD8|a%sQj;iXQM~ORWf3;xDpp%tAB|ObuP`J0 zVGr}txI+F>ax&M_a3xo`Sywm`PGZ+ zR>5^B<0Vlrj$9BK;nYZB#MEG1rM`70pW&YoUL856aN&KF8L%GA^~k#B8O~}VHB)2` z`x=HwY zR7&QuW^$VtYVMHEk2R7EM%lNSt6pUL`4?^nfvZDIW#_LQVfZo4f?;$#*Tp0B868h= z3FAipBm6HHHqt0v)p@mCf2|NQCWbZ$8DlEBK(FxHn6dPZ&@!e!MfGE&Ig3jeKi0|_ zUBWA4GdZ10I6u~ah2iGd@5bG2F_f9h!L7(xhS_Vgma;n6Iw4&Vq$`dA{{X4h#jxp4 zTM3ayG?VJo#|&lU1zx)2WKNjdsqi4+p_DHbjN?Gtg<6od} z3QtWi(wBq-6M9E}<*qoP*yHx{_-UmZf_*~o_MbPKQq?#0w9MkNpKsZAHH-vEJDrAF z4r+ZuO%2~%Ax0+83Sr_S-|5EqD8{*jz7rE8d%)u#fxXd_2sK3+>3)}eyD)F!vFtzG z{z_K4nX+i5G*s_b9j!DHaf*A;Shp~8k_mD?HYtgl>=t%T>XA0V!@6RolWF~W$8k0D zqkg?Y$h}gV>;9UwmtwTHPw7f82%k<#!SA&x#evgczd~){)-WNbIEId@D=+>=oz=Nn zV^L*=oi|uiQv2qBLi&eUUsax4%V1+O_CkQ4EUy{J4Axv>-t=z}L>w^V8+t=XnmLeu zCd`aj&L&hf$i_*Z+*j_jubf$yjguOD#Ty4k+I#zoF9Gn8@CAHt=DF?r`bMNl

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index 25b841a..65a65cd 100644 --- a/User/Module/config.c +++ b/User/Module/config.c @@ -97,7 +97,7 @@ static const ConfigParam_t param ={ /*运球*/ .DribbleConfig_Config = { .dribble_flag=0, - .m3508_init_angle = 50, + .m3508_init_angle = -5, .m3508_translate_angle = -930, .m3508_dribble_Reverse_speed=-3500, . m3508_dribble_speed= 4000, // 转动速度 @@ -112,7 +112,8 @@ static const ConfigParam_t param ={ .PitchConfig_Config = { .m2006_init_angle =-90, .m2006_trigger_angle =0, - .go1_init_position = -50, + .go1_init_position = -50, + .go1_Receive_ball = -5, //偏下 .go1_release_threshold =-210, .m2006_Screw_init=0, .Pitch_angle =56, diff --git a/User/Module/up.c b/User/Module/up.c index fe3a170..df7dcd1 100644 --- a/User/Module/up.c +++ b/User/Module/up.c @@ -276,7 +276,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) 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->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 /*运球*/ @@ -285,7 +284,7 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) for(int i=0;i<3;i++){ u->motor_target.Dribble_M3508_speed[i]=0; } - u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_translate_angle; u->DribbleContext .DribbleState = DRIBBLE_PREPARE; //重置最初状态 @@ -321,10 +320,6 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) u->DribbleContext .DribbleState=DRIBBLE_TRANSLATE; } //光电状态更新 - u->DribbleContext .DribbleConfig .light_ball_flag =HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - u->DribbleContext .DribbleConfig .light_3508_flag =HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); - a=HAL_GPIO_ReadPin(LIGHT_C_GPIO_Port ,LIGHT_C_Pin); - b=HAL_GPIO_ReadPin(LIGHT_B_GPIO_Port ,LIGHT_B_Pin); Dribble_Process(u,out); }break ; @@ -379,12 +374,14 @@ return 0; -int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c) +int8_t Pitch_Process(UP_t *u, CAN_Output_t *out) { switch(u->PitchContext .PitchState){ case PITCH_START: +// u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面,这里的检测条件可以更改 @@ -437,7 +434,9 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) switch (u->DribbleContext.DribbleState) { case DRIBBLE_TRANSLATE: - if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_translate_angle,1.0f)) + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 { u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,转移状态 } @@ -460,13 +459,12 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) common_speed_flag =1; } if(common_speed_flag){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){//球下落检测,反转 + 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->DribbleContext .DribbleState=DRIBBLE_PROCESS_UP; - } } @@ -474,12 +472,14 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) break; case DRIBBLE_PROCESS_UP: - if((u->motorfeedback .DJmotor_feedback [0].rpm<0)&& - (u->motorfeedback .DJmotor_feedback [1].rpm>0)&& - (u->motorfeedback .DJmotor_feedback [2].rpm>0) + 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) ){ - if(u->DribbleContext .DribbleConfig .light_ball_flag == 0){ + if(u->DribbleContext .DribbleConfig .light_ball_flag == 1){ u->DribbleContext .DribbleState=DRIBBLE_DONE; RELAY1_TOGGLE(0); //关闭气缸 } @@ -502,5 +502,89 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out) } return 0; } +// CoPREPARE, // 准备阶段 +// CoTRANSLATE_OUT,//上方平移,去运球 +// CoDRIBBLE, //运球阶段 +// CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 +// CoPITCH, //发射 +// CoDONE, + +int8_t Co_Process(UP_t *u, CAN_Output_t *out) +{ + switch(u->CoContext .CoState ) + { + case CoPREPARE: + + break ; + case CoTRANSLATE_OUT: + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主 + { + u->DribbleContext .DribbleState=DRIBBLE_PROCESS_DOWN;//到达位置后,运球转移状态 + u->PitchContext .PitchState = PITCH_START; + + u->CoContext .CoState =CoDRIBBLE; + } + break; + + case CoDRIBBLE: + Dribble_Process(u,out); //状态停在DRIBBLE_DONE + Pitch_Process(u,out); //状态停在PITCH_PULL_TRIGGER + //状态停在对应位置时,平移去给发射送球 + if(u->DribbleContext .DribbleState ==DRIBBLE_DONE && u->PitchContext.PitchState ==PITCH_LAUNCHING) + { + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle; + } + if(is_reached(u->motorfeedback.DJmotor_feedback[3].total_angle ,u->DribbleContext .DribbleConfig.m3508_init_angle,1.0f)) + { + u->motor_target.Dribble_M3508_speed[0]=1000; + u->motor_target.Dribble_M3508_speed[1]=-1000; + u->motor_target.Dribble_M3508_speed[2]=-1000; + + u->CoContext .CoState =CoTRANSLATE_IN; + } + + break ; + case CoTRANSLATE_IN: + + if(is_reached_multiple(u->motorfeedback .DJmotor_feedback [0].rpm, + u->motorfeedback .DJmotor_feedback [1].rpm, + u->motorfeedback .DJmotor_feedback [2].rpm, + u->motor_target.Dribble_M3508_speed [0], + u->motor_target.Dribble_M3508_speed [1], + u->motor_target.Dribble_M3508_speed[2], + 50.0f,100) + ) { + RELAY1_TOGGLE(1); //速度达到后打开气缸,送给发射 + } + if(u->DribbleContext .DribbleConfig.light_ball_flag == 0) + { + u->motor_target.Dribble_M3508_speed[0]=0; + u->motor_target.Dribble_M3508_speed[1]=0; + u->motor_target.Dribble_M3508_speed[2]=0; + u->motor_target .Dribble_translate_M3508_angle =u->DribbleContext .DribbleConfig.m3508_translate_angle;//平行移动 + + } + + if(u->motorfeedback.DJmotor_feedback[3].rpm==0 && u->motorfeedback.DJmotor_feedback[3].total_angle < -500)//速度为0认为卡主,卡到最右端 + { + u->CoContext .CoState =CoPITCH; + } + break ; + + case CoPITCH: + + u->motor_target .go_shoot=u->PitchContext.PitchConfig.go1_init_position; + + + break ; + + } + + + +} + diff --git a/User/Module/up.h b/User/Module/up.h index f06865c..d915ebf 100644 --- a/User/Module/up.h +++ b/User/Module/up.h @@ -26,16 +26,24 @@ 运行函数,switch(状态) 运行相应函数 - - - - - - - - - */ +/*配合过程状态,co是合作的意思*/ +typedef enum { + CoPREPARE, // 准备阶段 + CoTRANSLATE_OUT,//上方平移,去运球 + CoDRIBBLE, //运球和蓄力阶段,再平移回去 + CoTRANSLATE_IN,//上方平移,送球发射,回到运球位置 + CoPITCH, //发射 + CoDONE, + + +}CoState_t; +/*总配合上下文*/ +typedef struct { + CoState_t CoState; + + uint8_t is_initialized ; +} CoContext_t; @@ -46,7 +54,9 @@ typedef enum { PITCH_START, //启动,拉扳机 PITCH_PULL_TRIGGER, PITCH_LAUNCHING, // 发射中 + PITCH_COMPLETE // 完成 + } PitchState_t; /* 投球参数配置 */ @@ -55,8 +65,10 @@ typedef struct { fp32 m2006_trigger_angle; // M2006触发角度0,用来合并扳机 fp32 go1_init_position; // GO电机触发位置,0,初始位置 fp32 go1_release_threshold; // go上升去合并扳机,扳机位置 + fp32 go1_Receive_ball; //用在配合过程,用来接平移后的球 fp32 m2006_Screw_init; fp32 Pitch_angle; + } PitchConfig_t; /* 投球控制上下文 */ @@ -108,8 +120,6 @@ typedef struct { uint8_t is_initialized; - - } DribbleContext_t; @@ -164,7 +174,8 @@ typedef struct{ uint8_t up_task_run; const UP_Param_t *param; - /*运球过程*/ + CoContext_t CoContext; + /*运球过程*/ DribbleContext_t DribbleContext; /*投篮过程*/ PitchContext_t PitchContext; @@ -262,7 +273,8 @@ int8_t DJ_Angle_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Angle int8_t DJ_Speed_Control(UP_t *u,int id,DJmotor_feedback_t *f,pid_type_def *Speed_pid,fp32 target_speed); int8_t Dribble_Process(UP_t *u, CAN_Output_t *out); -int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c); +int8_t Pitch_Process(UP_t *u, CAN_Output_t *out); +int8_t Co_Process(UP_t *u, CAN_Output_t *out); #endif