RoboDuoduo/R1_up
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This commit is contained in:
ws 2025-06-15 23:16:43 +08:00
parent 6489615e36
commit 30de35d147
7 changed files with 69 additions and 90 deletions
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6
MDK-ARM/.vscode/uv4.log vendored
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@ -1,8 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling calc_lib.c...
compiling shoot.cpp...
linking...
Program Size: Code=30644 RO-data=1884 RW-data=5816 ZI-data=33280
Program Size: Code=30460 RO-data=1840 RW-data=268 ZI-data=33276
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:03
Build Time Elapsed: 00:00:05

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/14 22:01:44
2025/6/15 22:57:56

24
MDK-ARM/R1.uvoptx
View File

@ -153,24 +153,7 @@
<Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
<Breakpoint>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>82</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>../Core/Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<Breakpoint/>
<WatchWindow1>
<Ww>
<count>0</count>
@ -212,6 +195,11 @@
<WinNumber>1</WinNumber>
<ItemText>task_struct,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>aaa,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>

71
User/module/ball.cpp
View File

@ -116,15 +116,51 @@ void Ball::ballDown(void)
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);//确保闭合气缸
speed_set=500;
if(ball_state==0)
{
osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
}
}
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 1800 中 1000 👇200
// sw[5] 👆 200 👇1800
//左旋 sw[7] 200 --1800
void Ball::rc_mode()
{
if(rc_ctrl.sw[6]==1800)
{
rc_key=UP2;
}
if(rc_ctrl.sw[6]==1000)
{
rc_key=MIDDLE2;
}
if(rc_ctrl.sw[6]==200)
{
rc_key=DOWN2;
}
if(rc_ctrl.sw[5]==200)
{
extern_key=IN;
}
if(rc_ctrl.sw[5]==1800)
{
extern_key=OUT;
}
}
void Ball::Move_Extend(void)
{
if(rc_ctrl.sw[6] == 200) // 左拨杆上
if(extern_key==IN)
{
Extend_mcontrol(I_ANGLE1, I_ANGLE2); // 内伸
}
else if(rc_ctrl.sw[6] == 1800) // 左拨杆下
else if(extern_key==OUT)
{
Extend_mcontrol(O_ANGLE1, O_ANGLE2); // 外伸
}
@ -134,35 +170,6 @@ void Ball::Move_Extend(void)
}
}
// C键 sw[5]👆 200 中1000 👇1800
// D键 sw[6]👆 200 👇1800
void Ball::rc_mode()
{
if(rc_ctrl.sw[5]==200)
{
rc_key=UP2;
}
if(rc_ctrl.sw[5]==1000)
{
rc_key=MIDDLE2;
}
if(rc_ctrl.sw[5]==1800)
{
rc_key=DOWN2;
}
if(rc_ctrl.sw[6]==200)
{
extern_key=IN;
}
if(rc_ctrl.sw[6]==1800)
{
extern_key=OUT;
}
}
void Ball::ball_control()
{
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 有球 1 无球 0
@ -247,7 +254,7 @@ void Ball::Three_Handing()
case BALL_FINISH:
key = 0; // 重置按键状态
speed_set = 0;
osThreadFlagsSet(task_struct.thread.shoot, BALL_OK);
//currentState1 = BALL_IDLE; // 直接回到空闲状态
break;
default:

30
User/module/shoot.cpp
View File

@ -115,7 +115,10 @@ int Shoot::GO_SendData(float pos,float limit)
return 0;
}
//E键 sw[1]👆 200 shoot 中 1000 stop 👇1800 error
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 1800 中 1000 👇200
//左旋 sw[7] 200 --1800
void Shoot::rc_mode()
{
if(rc_ctrl.sw[1]==200)
@ -126,25 +129,25 @@ void Shoot::rc_mode()
{
rc_key=MIDDLE1;
}
if(rc_ctrl.sw[1]==1800)
if(rc_ctrl.sw[2]==1800)
{
rc_key=DOWN1;
}
if(rc_ctrl.sw[7]==200)
{
trigger_key=WAIT;
}
if(rc_ctrl.sw[7]==1800)
{
trigger_key=SHOOT;
}
// if(rc_ctrl.sw[7]==200)
// {
// trigger_key=WAIT;
// }
// if(rc_ctrl.sw[7]==1800)
// {
// trigger_key=SHOOT;
// }
//knob_increment=rc_ctrl.ch[2]/150;
//旋钮增量
static int last_knob_value = 0; // 记录旋钮的上一次值
int current_knob_value = rc_ctrl.sw[4]; // 获取当前旋钮值
int current_knob_value = rc_ctrl.sw[7]; // 获取当前旋钮值
// 计算旋钮增量
if (current_knob_value >= 200 && current_knob_value <= 1800) {
@ -156,7 +159,6 @@ void Shoot::rc_mode()
}
void Shoot::shoot_control() {
//方便调试
@ -164,7 +166,7 @@ void Shoot::shoot_control() {
feedback.fd_tpos = trigger_Motor->total_angle;
switch (rc_key) {
case DOWN1:
case DOWN1:
control_pos = INIT_POS; // 默认中间挡位位置
//fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
@ -234,7 +236,7 @@ void Shoot :: shoot_Current()
go1.Pos = fire_pos; // 下拉到中间挡位位置
if (feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR) {
BSP_Buzzer_Start();
// BSP_Buzzer_Set(1,5000);
BSP_Buzzer_Set(1,5000);
// see_you_again();
//currentState = SHOOT_WAIT; // 等待发射信号
//在拨杆切换时触发了

11
User/task/ballTask.cpp
View File

@ -10,15 +10,6 @@ extern RC_ctrl_t rc_ctrl;
Ball ball;
//float vofa[8];
// C键 sw[5]👆 1800 中1000 👇200
// D键 sw[6]👆 200 外伸 👇1800 归位 //三摩擦架子
// H键 sw[7]👆 200 👇1800 //取球
int angle1=330;
int angle2=-240;
int test111=0;
//检查光电
int abc=0;
@ -37,7 +28,7 @@ void FunctionBall(void *argument)
task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());
#endif
abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
ball.rc_mode(); // 遥控器模式

15
User/task/shootTask.cpp
View File

@ -10,15 +10,8 @@ extern RC_ctrl_t rc_ctrl;
Shoot shoot;
NUC_t nucData; // 自瞄
int shoot_flag = 0;
int a2;
int goangle=0;
//E键 sw[0]👆 200 中 1000 👇1800
//F键 sw[1]👆 1800 👇200
void FunctionShoot(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
@ -39,19 +32,17 @@ while(1)
if(shoot.flag_thread & BALL_OK)
{
a2=2;
}
shoot_flag=HAL_GPIO_ReadPin(STOP_GPIO_Port, STOP_Pin);
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
{
shoot.distanceGet(nucData);
}
//shoot.GO_SendData(goangle,5);
shoot.shoot_control();
// shoot.GO_SendData(goangle,5);
// shoot.shoot_control();
// shoot.t_posSet=goangle;
// shoot.trigger_control();