diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index e3974da..de28053 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -122,3 +122,19 @@
[info] Log at : 2025/7/8|20:39:07|GMT+0800
+[info] Log at : 2025/7/9|08:39:28|GMT+0800
+
+[info] Log at : 2025/7/9|11:36:02|GMT+0800
+
+[info] Log at : 2025/7/9|16:01:34|GMT+0800
+
+[info] Log at : 2025/7/9|23:48:02|GMT+0800
+
+[info] Log at : 2025/7/10|01:59:23|GMT+0800
+
+[info] Log at : 2025/7/10|15:33:45|GMT+0800
+
+[info] Log at : 2025/7/10|17:26:59|GMT+0800
+
+[info] Log at : 2025/7/10|22:12:10|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 4e685d4..d3613a4 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,8 +1,39 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
-compiling shoot.cpp...
linking...
-Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32252
-FromELF: creating hex file...
-"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:05
+R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REV16 multiply defined (by main.o and main.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____REVSH multiply defined (by main.o and main.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___6_main_c_main____RRX multiply defined (by main.o and main.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REVSHs multiply defined (by shoot.o and shoot.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REV16 multiply defined (by djimotor.o and djimotor.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____REVSH multiply defined (by djimotor.o and djimotor.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_djiMotor_c_0818c4ba____RRX multiply defined (by djimotor.o and djimotor.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REV16 multiply defined (by remote_control.o and remote_control.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____REVSH multiply defined (by remote_control.o and remote_control.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___16_remote_control_c_d71f1673____RRX multiply defined (by remote_control.o and remote_control.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REV16j multiply defined (by ball.o and ball.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z7__REVSHs multiply defined (by ball.o and ball.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___8_ball_cpp_a168e0ee___Z5__RRXj multiply defined (by ball.o and ball.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z7__REV16j multiply defined (by shoot.o and shoot.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___9_shoot_cpp_24247dc0___Z5__RRXj multiply defined (by shoot.o and shoot.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REV16 multiply defined (by inittask.o and inittask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____REVSH multiply defined (by inittask.o and inittask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___10_initTask_c_1acb3ba9____RRX multiply defined (by inittask.o and inittask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REV16j multiply defined (by balltask.o and balltask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z7__REVSHs multiply defined (by balltask.o and balltask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___12_ballTask_cpp_ball___Z5__RRXj multiply defined (by balltask.o and balltask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REV16j multiply defined (by encodecan.o and encodecan.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z7__REVSHs multiply defined (by encodecan.o and encodecan.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_encodeCan_cpp_dca83ed4___Z5__RRXj multiply defined (by encodecan.o and encodecan.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REV16j multiply defined (by nuctask.o and nuctask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z7__REVSHs multiply defined (by nuctask.o and nuctask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___11_nucTask_cpp_3f7e051c___Z5__RRXj multiply defined (by nuctask.o and nuctask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REV16j multiply defined (by shoottask.o and shoottask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z7__REVSHs multiply defined (by shoottask.o and shoottask.o).
+R1\R1.axf: Error: L6200E: Symbol __asm___13_shootTask_cpp_shoot___Z5__RRXj multiply defined (by shoottask.o and shoottask.o).
+Not enough information to list image symbols.
+Not enough information to list load addresses in the image map.
+Finished: 2 information, 0 warning and 30 error messages.
+"R1\R1.axf" - 30 Error(s), 0 Warning(s).
+Target not created.
+Build Time Elapsed: 00:00:02
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 15ae3a8..e3043fd 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/9 7:17:12
\ No newline at end of file
+2025/7/10 17:27:12
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 2f15476..533a043 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -190,6 +190,16 @@
1
a,0x0A
+
+ 7
+ 1
+ and1,0x0A
+
+
+ 8
+ 1
+ test_distance
+
@@ -957,7 +967,7 @@
User/device
- 1
+ 0
0
0
0
@@ -1049,7 +1059,7 @@
User/module
- 0
+ 1
0
0
0
@@ -1081,7 +1091,7 @@
User/task
- 1
+ 0
0
0
0
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 9524760..9d74009 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -16,7 +16,7 @@
#endif
-#define ONE_CONTROL 1
+#define ONE_CONTROL 0
//是否使用大疆DT7遥控器
#ifndef DT7
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 14a5e52..e27b6db 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -10,11 +10,11 @@ extern RC_ctrl_t rc_ctrl;
extern int ball_exit;
// 伸缩
-//外死点132 外130 中119.12 内92 限位90
+//外死点89 外85 中75 内49 限位46
-#define I_ANGLE 92
-#define O_ANGLE 130
-#define WAIT_POS 119
+#define I_ANGLE 49
+#define O_ANGLE 85
+#define WAIT_POS 75
// PE11 气缸git stash apply
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 626a795..e01e204 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -15,7 +15,7 @@ extern RC_ctrl_t rc_ctrl;
NUC_t nuc_v;
float vofa[8];
-double test_distance;
+double test_distance=4.0;
// sw[7]👆 1694 中 1000 👇306
// sw[2]👆 1694 👇306
@@ -39,7 +39,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
#define CHANEGE_POS -205
#define GO_ERROR 1.0f
#define Tigger_DO 0
-#define Tigger_ZERO 138
+#define Tigger_ZERO 125
#define Tigger_ERROR 3
float knob_increment;
@@ -99,7 +99,7 @@ float shoot_fitting(float x)
float pass_fitting(float x)
{
- return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f;
+ return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f -2.0f;
}
void Shoot::distanceGet(const NUC_t &nuc_v)
@@ -231,6 +231,8 @@ void Shoot::rc_mode()
#if ONE_CONTROL == 0
+//float and1=-1.0f;
+float and1=0;
void Shoot::shoot_control()
{
@@ -241,7 +243,7 @@ void Shoot::shoot_control()
{
case VSION:
//fire_pos = distance; // 视觉拟合的力
- fire_pos =shoot_fitting(distance)+2.0f;
+ fire_pos =shoot_fitting(test_distance)+2.0f+and1;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@@ -284,7 +286,7 @@ void Shoot::shoot_control()
case PASS:
// 实时可调蓄力位置
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
- fire_pos =pass_fitting(pass_distance)+2.0f;
+ fire_pos =pass_fitting(pass_distance);
switch (rc_key)
{
case DOWN1:
@@ -407,6 +409,10 @@ void Shoot::RemoveError()
#if ONE_CONTROL
+//float and1=-1.5f;
+float and1=0;
+float and2=0;
+
void Shoot::shoot_control()
{
@@ -421,7 +427,7 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
- fire_pos = shoot_fitting(4); // 视觉拟合的力
+ fire_pos = shoot_fitting(distance)+and1; // 视觉拟合的力
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@@ -439,8 +445,8 @@ void Shoot::shoot_control()
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
{
shoot_wait = 1;
- BSP_Buzzer_Start();
- BSP_Buzzer_Set(1, 500);
+ //BSP_Buzzer_Start();
+ //BSP_Buzzer_Set(1, 500);
}
}
@@ -453,7 +459,7 @@ void Shoot::shoot_control()
if (feedback.fd_tpos >= Tigger_ZERO - 20)
{
- BSP_Buzzer_Stop();
+ //BSP_Buzzer_Stop();
currentState = SHOOT_IDLE;
osThreadFlagsClear(EXTEND_OK);
osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -477,8 +483,7 @@ void Shoot::shoot_control()
switch (rc_key)
{
case MIDDLE1:
- //fire_pos = pass_fitting(distance);
- fire_pos = pass_fitting(pass_distance);
+ fire_pos = pass_fitting(pass_distance)+and2;
if ((shoot_thread & READY_TELL) && !(shoot_thread & EXTEND_OK))
{
// 只收到READY_TELL且未收到EXTEND_OK时，顶部蓄力流程
@@ -493,8 +498,8 @@ void Shoot::shoot_control()
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
{
shoot_wait = 1;
- BSP_Buzzer_Start();
- BSP_Buzzer_Set(1, 500);
+ // BSP_Buzzer_Start();
+ // BSP_Buzzer_Set(1, 500);
}
}
// 没收到READY_TELL不做任何蓄力
@@ -509,7 +514,7 @@ void Shoot::shoot_control()
if (feedback.fd_tpos >= Tigger_ZERO - 20)
{
- BSP_Buzzer_Stop();
+ //BSP_Buzzer_Stop();
currentState = SHOOT_IDLE;
osThreadFlagsClear(EXTEND_OK);
osThreadFlagsClear(READY_TELL); // 蓄力标志位
@@ -539,7 +544,7 @@ void Shoot::shoot_control()
control_pos = WAIT_POS; //-209
go1.Pos = control_pos;
limit_speed = TO_TOP; // 快速上去
- if(feedback.fd_gopos < -149)
+ if(feedback.fd_gopos < WAIT_POS)
{
t_posSet = Tigger_ZERO; // 扳机松开
//osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
@@ -571,7 +576,7 @@ void Shoot::shoot_control()
trigger_control();
}
-int a=0;
+
// 配合运球到发射
void Shoot ::ball_receive()
{
@@ -586,12 +591,12 @@ void Shoot ::ball_receive()
{
control_pos = TOP_POS;
limit_speed = TO_TOP; // 快速上去
- a++;
+
}
if (feedback.fd_gopos < -209)
{
- a++;
+
currentState = GO_TOP; // 切换到准备发射状态
}
}
@@ -636,7 +641,7 @@ void Shoot::RemoveError()
control_pos = INIT_POS;
BSP_Buzzer_Stop();
}
- limit_speed = 3.0f; // 慢慢送上去
+ limit_speed = 5.0f; // 慢慢送上去
go1.Pos = control_pos;
}