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最终了，不大改了，改改参数就这样了

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This commit is contained in:
ZHAISHUI04 2025-04-07 19:34:34 +08:00
parent 0aee725ece
commit 3d6cb3d799
8 changed files with 143 additions and 85 deletions
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13
MDK-ARM/AUTO_CHASSIS.uvoptx
View File

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>6</nTsel> <nTsel>3</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -114,7 +114,7 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon> <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
@ -140,12 +140,12 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>CMSIS_AGDI</Key> <Key>CMSIS_AGDI</Key>
<Name>-X"Horco CMSIS-DAP" -U4626385832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name> <Name>-X"Horco CMSIS-DAP" -U8626380832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGUARM</Key> <Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name> <Name></Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -235,6 +235,11 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>flaggg,0x0A</ItemText> <ItemText>flaggg,0x0A</ItemText>
</Ww> </Ww>
<Ww>
<count>16</count>
<WinNumber>1</WinNumber>
<ItemText>ddd</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2> <WatchWindow2>
<Ww> <Ww>

BIN
MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
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Binary file not shown.

26
User/Module/config.c
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@ -38,14 +38,14 @@ static const ConfigParam_t param_chassis ={
}, },
.M3508_angle_param = { .M3508_angle_param = {
.p = 10.0f, .p = 10.0f,
.i = 0.0f, .i = 0.5f,
.d = 1.5f, .d = 0.0f,
.i_limit = 1000.0f, .i_limit = 1000.0f,
.out_limit = 3000.0f, .out_limit = 3000.0f,
}, },
.M3508_speed_param={ .M3508_speed_param={
.p = 5.1f, .p = 6.0f,
.i = 0.02f, .i = 0.0f,
.d = 3.2f, .d = 3.2f,
.i_limit = 200.0f, .i_limit = 200.0f,
.out_limit =6000.0f, .out_limit =6000.0f,
@ -77,25 +77,25 @@ static const ConfigParam_t param_chassis ={
.rev = 0, .rev = 0,
.T=0.1, .T=0.1,
.W=0.1, .W=0.1,
.K_P=0.10f, .K_P=0.20f,
.K_W=0.1, .K_W=0.1,
}, },
/*上层其他参数*/ /*上层其他参数*/
/*运球*/ /*运球*/
.DribbleConfig_Config = { .DribbleConfig_Config = {
.m3508_init_angle = 0, .m3508_init_angle = 50,
.m3508_high_angle = 900, .m3508_high_angle = 1200,
.go2_init_angle = 35, .go2_init_angle = 0,
.go2_flip_angle = -130, .go2_flip_angle = -250,
.flip_timing = 200, .flip_timing = 200,
.release_threshold = -1.2f, .go2_release_threshold = -550.0f,
}, },
/*投球*/ /*投球*/
.PitchConfig_Config = { .PitchConfig_Config = {
.m2006_init_angle =-140, .m2006_init_angle =-150,
.m2006_trigger_angle =0, .m2006_trigger_angle =0,
.go1_init_position = 0, .go1_init_position = -300,
.go1_release_threshold =-2050, .go1_release_threshold =-1900,
}, },

123
User/Module/up.c
View File

@ -45,15 +45,13 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值 u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
u->DribbleContext .DribbleState = Dribble_PREPARE; u->DribbleContext .DribbleState = Dribble_PREPARE;
u->DribbleContext .is_initialized = 1; u->DribbleContext .is_initialized = 1;
u->DribbleContext .Dribble_run_num =0;//记录运行次数
} }
if (!u->PitchContext .is_initialized) { if (!u->PitchContext .is_initialized) {
u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值 u->PitchContext .PitchConfig = u->param ->PitchConfig_Config ;//赋值
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
u->PitchContext .is_initialized = 1; u->PitchContext .is_initialized = 1;
u->PitchContext .Pitch_run_num =0;//记录运行次数
} }
@ -253,40 +251,45 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
/*投篮*/ /*投篮*/
u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ; u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ; u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
u->PitchContext .PitchState = PITCH_PREPARE; //状态更新,开始夹球
/*运球*/ /*运球*/
u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ; u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ; u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;
u->DribbleContext .DribbleState = Dribble_PREPARE; //重置最初状态
RELAY1_TOGGLE (1);//接球，1开0关 RELAY1_TOGGLE (1);//夹球，0夹1开
RELAY2_TOGGLE (1);//夹球，0关1开 RELAY2_TOGGLE (0);//球，0接1收
break; break;
case Pitch : case Pitch :
Pitch_Process(u,out); if (u->PitchContext .PitchState ==PITCH_PREPARE) //首次启动
{
u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮 u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
}
Pitch_Process(u,out);
break ; break ;
case Dribble: case Dribble:
{ {
/*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收 */ /*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收 */
if(u->DribbleContext.DribbleState== Dribble_PREPARE){
u->DribbleContext .DribbleState =STATE_GRAB_BALL;
}
Dribble_Process(u,out); Dribble_Process(u,out);
u->DribbleContext .DribbleState =STATE_GRAB_BALL;//置标志位用于启动运球
}break ; }break ;
case Dribbl_transfer:
case PICK_Pitch_START : Dribbl_transfer_a(u,out);
Pitch_Process(u,out);
u->PitchContext .PitchState=PITCH_START;//置标志位用于启动视觉辅助投篮
break;
} }
break; break;
@ -311,12 +314,15 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
case PITCH_START: case PITCH_START:
u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold; u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
if(u->motorfeedback .GO_motor_info[0]->Pos < -35.0) //检测go位置到达最上面，这里的检测条件可以更改 if(u->motorfeedback .GO_motor_info[0]->Pos < -32.40){ //检测go位置到达最上面，这里的检测条件可以更改
u->motor_target .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0 u->motor_target .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
u->PitchContext .PitchState =PITCH_PULL_TRIGGER; //更改标志位
u->PitchContext .PitchState=PITCH_PULL_TRIGGER;//置标志位用于启动视觉辅助投篮
}//更改标志位
break ; break ;
case PITCH_PULL_TRIGGER: case PITCH_PULL_TRIGGER:
if(u->motorfeedback .M2006 .total_angle <5) //当2006的总角度小于5，可以认为已经勾上 if(u->motorfeedback .M2006 .total_angle >-1) //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;//go下拉 u->motor_target .go_shoot =u->PitchContext.PitchConfig .go1_init_position;//go下拉
u->PitchContext.PitchState =PITCH_LAUNCHING;//转移标志位 u->PitchContext.PitchState =PITCH_LAUNCHING;//转移标志位
@ -324,9 +330,9 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
break ; break ;
case PITCH_LAUNCHING: case PITCH_LAUNCHING:
if(u->motorfeedback .GO_motor_info [0]->Pos <2.0f) if(u->motorfeedback .GO_motor_info [0]->Pos >0)
{ {
u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度发射 // u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度发射
u->PitchContext .PitchState =PITCH_COMPLETE; u->PitchContext .PitchState =PITCH_COMPLETE;
} }
@ -335,7 +341,6 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
case PITCH_COMPLETE://完成运行动作后，恢复2006，-140度，go，pos0位置 case PITCH_COMPLETE://完成运行动作后，恢复2006，-140度，go，pos0位置
u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度 u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;//给-140角度
u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_init_position; u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_init_position;
u->PitchContext .Pitch_run_num ++;//运行次数+1
break ; break ;
@ -349,6 +354,8 @@ return 0;
// RELAY1_TOGGLE (1);//夹球，0夹1开
// RELAY2_TOGGLE (0);//夹球，0接1收
@ -358,17 +365,17 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
switch (u->DribbleContext.DribbleState) { switch (u->DribbleContext.DribbleState) {
case STATE_GRAB_BALL://开始 case STATE_GRAB_BALL://开始
RELAY2_TOGGLE (0);//夹球 RELAY1_TOGGLE (0);//夹球
u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起 u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起
u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_flip_angle; u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_flip_angle;
if((u->motorfeedback .M3508 .total_angle >400)) { if((u->motorfeedback .M3508 .total_angle >400)) {
RELAY1_TOGGLE (0); RELAY2_TOGGLE (1);
if((u->motorfeedback.GO_motor_info[1]->angle) <-53){ if(((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.1)&&(u->motorfeedback.M3508 .total_angle >1190)){
u->DribbleContext .DribbleState = STATE_RELEASE_BALL; //当go2到标准位置，标志位改变 u->DribbleContext .DribbleState = STATE_RELEASE_BALL; //当go2到标准位置，标志位改变
} }
@ -378,13 +385,13 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
case STATE_RELEASE_BALL: case STATE_RELEASE_BALL:
RELAY2_TOGGLE (1);//松球 RELAY1_TOGGLE (1);//松球
if((u->motorfeedback.GO_motor_info[1]->angle) <-60){ if((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.3){
u->motor_target.go_spin =u->DribbleContext .DribbleConfig .go2_init_angle ; //恢复go2位置 u->motor_target.go_spin =-40; //恢复go2位置
u->DribbleContext .DribbleState = STATE_CATCH_PREP; //当go2到标准位置，标志位改变 u->DribbleContext .DribbleState = STATE_CATCH_PREP; //当go2到标准位置，标志位改变
} }
@ -392,23 +399,26 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
break; break;
case STATE_CATCH_PREP: case STATE_CATCH_PREP:
if((u->motorfeedback.GO_motor_info[1]->angle) > -0){ if((u->motorfeedback.GO_motor_info[1]->Pos )> -0.4){
u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ; //当go2到初始位置，3508降 u->motor_target.M3508_angle =0 ; //当go2到初始位置，3508降
RELAY1_TOGGLE (1);//接球 RELAY2_TOGGLE (0);//接球
} }
if(u->motorfeedback .M3508 .total_angle <5){ if(u->motorfeedback .M3508 .total_angle <51.0f){
u->DribbleContext .DribbleState = STATE_CATCH_DONE; RELAY1_TOGGLE (0);//夹球，0夹1开
u->DribbleContext .DribbleState = STATE_TRANSFER;
} }
break; break;
case STATE_CATCH_DONE:
RELAY2_TOGGLE (1);//松球
RELAY1_TOGGLE (0);
u->DribbleContext .Dribble_run_num ++;//运行次数增加
break ; break ;
default: default:
break; break;
} }
@ -416,3 +426,42 @@ int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
return 0; return 0;
} }
void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out)
{
switch (u->DribbleContext.DribbleState) {
case STATE_TRANSFER:
if((u->motorfeedback.M3508 .total_angle <52.0f )) //满足这个状态时认为go和3508到达初始位置，再夹上球
{
u->motor_target .go_spin =u->DribbleContext .DribbleConfig .go2_release_threshold ;
}
if(u->motorfeedback .GO_motor_info [1]->Pos < -4.9)
{
RELAY1_TOGGLE (1);//夹球，0夹1开
if(u->motorfeedback .GO_motor_info [1]->Pos > -4.8)
{
u->DribbleContext .DribbleState = STATE_CATCH_DONE; //当go2到标准位置，标志位改变
}
}
break ;
case STATE_CATCH_DONE:
RELAY1_TOGGLE (1);//夹球，0夹1开
RELAY2_TOGGLE (0);//夹球，0接1收
u->motor_target.go_spin=u->DribbleContext .DribbleConfig.go2_init_angle ;
break;
break;
}
}

9
User/Module/up.h
View File

@ -44,7 +44,7 @@
typedef enum { typedef enum {
PITCH_PREPARE, // 准备阶段 PITCH_PREPARE, // 准备阶段
PITCH_START, //启动，拉扳机 PITCH_START, //启动，拉扳机
PITCH_PULL_TRIGGER, // 扳机拉动 PITCH_PULL_TRIGGER,
PITCH_LAUNCHING, // 发射中 PITCH_LAUNCHING, // 发射中
PITCH_COMPLETE // 完成 PITCH_COMPLETE // 完成
} PitchState_t; } PitchState_t;
@ -63,7 +63,6 @@ typedef struct {
PitchConfig_t PitchConfig; PitchConfig_t PitchConfig;
uint8_t is_initialized ; uint8_t is_initialized ;
uint8_t Pitch_run_num;
} PitchContext_t; } PitchContext_t;
@ -80,6 +79,7 @@ typedef enum {
STATE_RELEASE_BALL, // 释放球体 STATE_RELEASE_BALL, // 释放球体
STATE_CATCH_PREP, // 接球准备 STATE_CATCH_PREP, // 接球准备
STATE_CATCH_BALL, // 接球动作 STATE_CATCH_BALL, // 接球动作
STATE_TRANSFER, //转移球
STATE_CATCH_DONE //完成 STATE_CATCH_DONE //完成
} DribbleState_t; } DribbleState_t;
@ -90,7 +90,8 @@ typedef struct {
fp32 go2_init_angle; // GO2初始角度 fp32 go2_init_angle; // GO2初始角度
fp32 go2_flip_angle; // GO2翻转角度 fp32 go2_flip_angle; // GO2翻转角度
fp32 flip_timing; // 翻转触发时机 fp32 flip_timing; // 翻转触发时机
fp32 release_threshold; // 释放球 // fp32
fp32 go2_release_threshold; // 释放球
} DribbleConfig_t; } DribbleConfig_t;
/* 状态机上下文 */ /* 状态机上下文 */
@ -99,7 +100,6 @@ typedef struct {
DribbleConfig_t DribbleConfig; DribbleConfig_t DribbleConfig;
uint8_t is_initialized; uint8_t is_initialized;
uint8_t Dribble_run_num;
} DribbleContext_t; } DribbleContext_t;
@ -282,5 +282,6 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out);
int8_t Dribble_Process(UP_t *u, CAN_Output_t *out); int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);
void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out);
#endif #endif

16
User/device/cmd.c
View File

@ -44,7 +44,10 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){
/*遥控器，上下层通用，按键控制，统一到cmd*/ /*遥控器，上下层通用，按键控制，统一到cmd*/
int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) { int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
if(cmd == NULL) return -1; if(cmd == NULL) return -1;
const CMD_CtrlType_t prev_CtrlType = cmd->CMD_CtrlType ;
const CMD_UP_mode_t prev_mode = cmd->CMD_UP_mode ;//保存旧状态
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) { if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
cmd->CMD_CtrlType =RELAXED; cmd->CMD_CtrlType =RELAXED;
@ -54,7 +57,7 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
cmd ->CMD_CtrlType =UP_RCcontrol; cmd ->CMD_CtrlType =UP_RCcontrol;
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮 if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式 if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左上，右上，运球 if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左上，右上，运球
} }
else if(rc->sw_l==CMD_SW_MID) else if(rc->sw_l==CMD_SW_MID)
@ -74,12 +77,15 @@ int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
} }
else if(rc->sw_l==CMD_SW_DOWN) else if(rc->sw_l==CMD_SW_DOWN)
{ {
cmd ->CMD_CtrlType =PICK_t; cmd ->CMD_CtrlType =UP_RCcontrol;
if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =PICK_Pitch_Normal; //左下，右上，投篮 if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Dribbl_transfer; //左下，右上，投篮
if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式 if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Dribble; //左下，右中，无模式
if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =PICK_Pitch_START; //左下，右上，投篮 if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
} }
if (prev_CtrlType!= cmd->CMD_CtrlType ) cmd ->last_CMD_CtrlType = prev_CtrlType;
if (prev_mode!=cmd->CMD_UP_mode ) cmd ->last_CMD_UP_mode =prev_mode;
return 0; return 0;
} }

6
User/device/cmd.h
View File

@ -26,8 +26,7 @@ typedef enum{
/*视觉辅助下的投篮*/ /*视觉辅助下的投篮*/
PICK_Pitch_Normal, PICK_Pitch_Normal,
PICK_Pitch_START Dribbl_transfer
}CMD_UP_mode_t; }CMD_UP_mode_t;
typedef struct { typedef struct {
uint8_t status_fromnuc; uint8_t status_fromnuc;
@ -99,7 +98,8 @@ typedef struct {
CMD_UP_mode_t CMD_UP_mode; CMD_UP_mode_t CMD_UP_mode;
CMD_CtrlType_t CMD_CtrlType; CMD_CtrlType_t CMD_CtrlType;
CMD_CtrlType_t last_CMD_CtrlType;
CMD_UP_mode_t last_CMD_UP_mode;
} CMD_t; } CMD_t;

5
User/task/up_task.c
View File

@ -67,19 +67,16 @@ void Task_up(void *argument)
// //
// GO_SendData(&UP, 1,CCC);
// GO_SendData(&UP, 0,aaa);
UP_control(&UP,&UP_CAN_out,&up_cmd); UP_control(&UP,&UP_CAN_out,&up_cmd);
// UP.motor_target .go_shoot =aaa; // UP.motor_target .go_shoot =aaa;
// UP.motor_target .M2006_angle =bbb ; // UP.motor_target .M2006_angle =bbb ;
// UP_control(&UP,&UP_CAN_out,&up_cmd);
// UP.motor_target .M3508_angle =CCC; // UP.motor_target .M3508_angle =CCC;
// UP.motor_target .go_shoot =aaa; // UP.motor_target .go_shoot =aaa;
// UP.motor_target .M2006_angle =bbb; // UP.motor_target .M2006_angle =bbb;
// UP.motor_target .go_spin =ddd; // UP.motor_target .go_spin =ddd;
//
ALL_Motor_Control(&UP,&UP_CAN_out); ALL_Motor_Control(&UP,&UP_CAN_out);
osDelay(1); osDelay(1);