From 241bf2f6317f40a4739f27745bd8e436bb5590e9 Mon Sep 17 00:00:00 2001
From: ws <1621320660@qq.com>
Date: Wed, 16 Jul 2025 22:31:15 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E7=BB=93=E6=92=92=E8=8A=B1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/.vscode/keil-assistant.log |  2 +
 MDK-ARM/.vscode/uv4.log            |  7 +++-
 MDK-ARM/.vscode/uv4.log.lock       |  2 +-
 README.md                          | 59 +++++++++++++++++++++++++-----
 User/task/ballTask.cpp             | 14 -------
 User/task/shootTask.cpp            |  9 +----
 6 files changed, 60 insertions(+), 33 deletions(-)

diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 8802b01..7f2107f 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -162,3 +162,5 @@
 
 [info] Log at : 2025/7/16|22:15:00|GMT+0800
 
+[info] Log at : 2025/7/16|22:26:06|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index f0584ac..d53ce22 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,4 +1,9 @@
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'R1'
+compiling ballTask.cpp...
+compiling shootTask.cpp...
+linking...
+Program Size: Code=31984 RO-data=1832 RW-data=272 ZI-data=32264  
+FromELF: creating hex file...
 "R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:05
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 21f392d..36bc0c7 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/16 22:18:46
\ No newline at end of file
+2025/7/16 22:30:59
\ No newline at end of file
diff --git a/README.md b/README.md
index b0f5193..227e946 100644
--- a/README.md
+++ b/README.md
@@ -5,19 +5,60 @@ r1上层
 ## 外设
 
 + CAN1
-  - 扳机2006 id:0x205
-  - 三摩擦 id:123 
+  + 扳机2006 id:0x201
++ CAN2
+  + 小米电机 id:1  
 + UART
-  - uart1 波特率4000000 id：2
-  - uart6 nuc
-  - uart3 遥控器接收
+  + uart1 波特率4000000 id：2
+  + uart6 nuc
+  + uart3 遥控器接收
 + GPIO
-  - PI6运球光电 
-  - PE11 运球气缸
-
-
+  + PI6运球光电
+  + PE13 爪气缸
+  + PE14 砸气缸
 
 ## 遥控器
 
+## 待解决
 
++ 用了将运球和伸缩绑定到一起  √
++ 串口收数加个滤波  √
 
+## 思路
+
++ 👆 传球档           👆  配合档  
++ 中  初始档           中  初始档
++ 👇  发射档          👇  运球档
++ 起步遥控档我直接蓄力准备接球  + 可多次的运球
+  + 缩回转移球
+  + 蓄力到位,收到掉落信号和已伸出信号
+  + 根据视觉拟合信息的动态调整
+  + 拨置👇发射清空掉落信号
+
++ 用一个攻守方档
+  + 初始移动到最上面 更待蓄力(不管攻方守方都在最上面等待)
+  + 攻方时拨下立马蓄力并伸出(可小角度)
+  + 守方时不动并保持缩回
+  + 👇  运球档正常运球
+  + 中  初始档直接缩回
+  + 👆 配合档 完成配合并伸出才能发射
+
++ 传球模式
+  + 自动
+    + 底盘的传球对准档拨下
+    + 我的蓄力进入传球拟合
+    + 继续拨下发射
+  + 手动
+    + 目前只能打固定距离
+      + 切相同传球档 自动蓄力到传球力度
+      + 发射档发射
+    + 图传多距离
+      + 传球档
+      + 旋钮+看图传点位调整
+
++ 修复
+  + 6.29 发射误操作导致没有拟合作用就射了(已修复)
+  + 6.29 串口不稳定 重新拔插一下
+  + 6.29 nuc位置更新慢
+  + 6.29 添加光电上电保护防止跳尺(已添加)
+  
\ No newline at end of file
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 86a6556..0886f72 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -8,11 +8,7 @@
 #include "vofa.h"
 extern RC_ctrl_t rc_ctrl;
 Ball ball;
-//float vofa[8];
 
-//检查光电
-int abc=0;
-int aaaa=146;
 
 extern int speedm;
 
@@ -32,20 +28,10 @@ void FunctionBall(void *argument)
 #ifdef DEBUG
      task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());  
 #endif          
-
-    //abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
-     abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位
-
       ball.rc_mode(); // 遥控器模式  
     
       ball.ball_control(); // 控制球的动作    
 
-
-//    HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸关闭
-//    HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);   // 确保下气缸关闭
-    // ball.xiaomi.position = aaaa; 
-    // CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
-
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     osDelayUntil(tick);
     
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index 822dab7..b4fd579 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -10,7 +10,7 @@ extern RC_ctrl_t rc_ctrl;
 Shoot shoot;
 NUC_t nucData; // 自瞄
 
-int aaaxxx=0;
+
 
 void FunctionShoot(void *argument)
 {
@@ -35,13 +35,6 @@ while(1)
 
 	shoot.shoot_control();
 	
-//	shoot.t_posSet=aaaxxx;
-//	shoot.trigger_control();
-//  shoot.GO_SendData(goangle,5);
-//  shoot.shoot_control();
-//	shoot.t_posSet=goangle;
-//	shoot.trigger_control();
-
 	tick += delay_tick; /* 计算下一个唤醒时刻 */
 	osDelayUntil(tick);