diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 8d5c96e..b06872f 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -102,3 +102,53 @@
[info] Log at : 2025/7/4|09:10:46|GMT+0800
+[info] Log at : 2025/7/6|22:01:26|GMT+0800
+
+[info] Log at : 2025/7/6|22:02:13|GMT+0800
+
+[info] Log at : 2025/7/6|23:12:04|GMT+0800
+
+[info] Log at : 2025/7/7|04:53:38|GMT+0800
+
+[info] Log at : 2025/7/7|08:44:07|GMT+0800
+
+[info] Log at : 2025/7/7|14:20:11|GMT+0800
+
+[info] Log at : 2025/7/8|02:49:12|GMT+0800
+
+[info] Log at : 2025/7/8|13:15:42|GMT+0800
+
+[info] Log at : 2025/7/8|18:00:22|GMT+0800
+
+[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
+
+[info] Log at : 2025/7/11|10:11:25|GMT+0800
+
+[info] Log at : 2025/7/11|17:39:11|GMT+0800
+
+[info] Log at : 2025/7/12|23:45:28|GMT+0800
+
+[info] Log at : 2025/7/13|11:08:55|GMT+0800
+
+[info] Log at : 2025/7/13|12:29:41|GMT+0800
+
+[info] Log at : 2025/7/13|16:33:17|GMT+0800
+
+[info] Log at : 2025/7/13|16:42:25|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 001bdc4..85b4dd4 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,13 +1,18 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
-compiling shootTask.cpp...
-compiling nuc.c...
+compiling userTask.c...
+compiling remote_control.c...
compiling initTask.c...
-compiling ball.cpp...
+compiling main.c...
+compiling shootTask.cpp...
+compiling djiMotor.c...
compiling nucTask.cpp...
+compiling encodeCan.cpp...
+compiling ballTask.cpp...
+compiling ball.cpp...
compiling shoot.cpp...
linking...
-Program Size: Code=32960 RO-data=1832 RW-data=268 ZI-data=32220
+Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32268
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:02:09
+Build Time Elapsed: 00:00:09
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 397b7bf..c28d343 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/4 9:21:52
\ No newline at end of file
+2025/7/13 17:07:34
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 1e93deb..9e387cb 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -154,6 +154,7 @@
+<<<<<<< HEAD
0
@@ -196,6 +197,8 @@
error_code
+=======
+>>>>>>> 上层测试
4
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 261faac..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
@@ -28,7 +28,8 @@
//================任务通知,时间组================//
//事件组
#define EVENT_RC (1<<1)
-#define EVENT_CAN (1<<2)
+#define EVENT_CAN1 (1<<2)
+#define EVENT_CAN2 (1<<3)
//================任务通知================//
//运球
@@ -42,6 +43,8 @@
#define EXTEND_OK (1<<3)
//等待ok
#define WAIT_OK (1<<4)
+//可以防守收回
+#define DEF_READY (1<<5)
//要发送ok了
#define BALL_SEND (1<<6)
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index c2f4edb..3906496 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -215,15 +215,13 @@ static osThreadId_t thread_alert;
void Dji_Motor_CB()
{
HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &dji_rx_header, dji_rx_data);
+ osThreadFlagsSet(thread_alert, EVENT_CAN1);
- osThreadFlagsSet(thread_alert, EVENT_CAN);
- // osEventFlagsSet(eventReceive, EVENT_CAN);
}
void can2_Motor_CB(void)
{
HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
-
- //osThreadFlagsSet(thread_alert, EVENT_CAN);
+ osThreadFlagsSet(thread_alert, EVENT_CAN2);
}
/**
@@ -234,9 +232,6 @@ void can2_Motor_CB(void)
void djiInit(void)
{
thread_alert = osThreadGetId();
-
-
-
BSP_CAN_RegisterCallback(BSP_CAN_1, HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
Dji_Motor_CB);
BSP_CAN_RegisterCallback(BSP_CAN_2, HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
@@ -250,11 +245,9 @@ void djiInit(void)
*/
uint32_t waitNewDji()
{
- // return osEventFlagsWait(
- // eventReceive, EVENT_CAN,osFlagsWaitAny, osWaitForever);
+ // 等待CAN1或CAN2任意一个事件
return osThreadFlagsWait(
- EVENT_CAN, osFlagsWaitAll, osWaitForever);
-
+ EVENT_CAN1 | EVENT_CAN2, osFlagsWaitAny, osWaitForever);
}
#endif
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 0cf5add..db4abe5 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -6,7 +6,7 @@ static osThreadId_t thread_alert;
volatile uint32_t drop_message = 0;
-uint8_t nucbuf[16];
+uint8_t nucbuf[18];
uint8_t packet[32]; // 假设最大数据包长度为 32 字节
static void NUC_CBLTCallback(void)
@@ -82,6 +82,62 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
return DEVICE_OK; // 发送成功
}
+// int8_t NUC_RawParse(NUC_t *n) {
+// if (n == NULL) return DEVICE_ERR_NULL;
+// union {
+// float x[3];
+// char data[12];
+// } instance; // 方便在浮点数和字符数组之间进行数据转换
+
+// // 校验数据包头
+// if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
+// else
+// {
+// n->status_fromnuc = nucbuf[1];
+// n->ctrl_status = nucbuf[2];
+// switch (n->status_fromnuc) {
+// case VISION:
+// /* 协议格式
+// 0xFF HEAD
+// 0x07
+// 控制帧
+// 0x01 相机帧
+// x fp32
+// 0xFE TAIL
+// */
+// if (nucbuf[7] != TAIL) goto error;
+
+// instance.data[3] = nucbuf[6];
+// instance.data[2] = nucbuf[5];
+// instance.data[1] = nucbuf[4];
+// instance.data[0] = nucbuf[3];
+// n->vision.x = instance.x[0];
+
+// instance.data[7] = nucbuf[10];
+// instance.data[6] = nucbuf[9];
+// instance.data[5] = nucbuf[8];
+// instance.data[4] = nucbuf[7];
+// n->vision.y = instance.x[1];
+
+
+// break;
+// }
+// return DEVICE_OK;
+// }
+
+
+// error:
+// drop_message++;
+// return DEVICE_ERR;
+// }
+
+
+ /* 协议格式
+ 0xFF HEAD
+ x fp32
+ y fp32
+ 0xFE TAIL
+ */
int8_t NUC_RawParse(NUC_t *n) {
if (n == NULL) return DEVICE_ERR_NULL;
union {
@@ -93,43 +149,24 @@ int8_t NUC_RawParse(NUC_t *n) {
if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
else
{
- n->status_fromnuc = nucbuf[1];
- n->ctrl_status = nucbuf[2];
- switch (n->status_fromnuc) {
- case VISION:
- /* 协议格式
- 0xFF HEAD
- 0x07
- 控制帧
- 0x01 相机帧
- x fp32
- 0xFE TAIL
- */
- if (nucbuf[7] != TAIL) goto error;
- instance.data[3] = nucbuf[6];
- instance.data[2] = nucbuf[5];
- instance.data[1] = nucbuf[4];
- instance.data[0] = nucbuf[3];
+ if (nucbuf[17] != TAIL) goto error;
+
+ instance.data[3] = nucbuf[8];
+ instance.data[2] = nucbuf[7];
+ instance.data[1] = nucbuf[6];
+ instance.data[0] = nucbuf[5];
n->vision.x = instance.x[0];
- instance.data[7] = nucbuf[10];
- instance.data[6] = nucbuf[9];
- instance.data[5] = nucbuf[8];
- instance.data[4] = nucbuf[7];
+ instance.data[7] = nucbuf[16];
+ instance.data[6] = nucbuf[15];
+ instance.data[5] = nucbuf[14];
+ instance.data[4] = nucbuf[13];
n->vision.y = instance.x[1];
- instance.data[11] = nucbuf[11];
- instance.data[10] = nucbuf[12];
- instance.data[9] = nucbuf[13];
- instance.data[8] = nucbuf[14];
- n->vision.z = instance.x[2];
- break;
}
return DEVICE_OK;
- }
-
-
+
error:
drop_message++;
return DEVICE_ERR;
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index b004a4d..0f2b98d 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -11,14 +11,14 @@ extern int ball_exit;
// 外死点168 外163 中150 内127 限位124.8
// 伸缩
-//外死点168 外163 中150 内127 限位124.8
-#define I_ANGLE 127
-#define O_ANGLE 163
-#define WAIT_POS 150
-#define IN 124.8
-#define OUT 168
+//外死点89 外85 中75 内49 限位46
-// PE11 气缸
+#define I_ANGLE 49
+#define O_ANGLE 85
+#define WAIT_POS 75
+#define HANGDING_POS 89
+
+// PE11 气缸git stash apply
Ball ::Ball()
{
@@ -107,7 +107,7 @@ void Ball::Move_Extend()
}
if (extern_key == OUT)
{
- xiaomi.position = O_ANGLE;
+ xiaomi.position = HANGDING_POS;
}
}
@@ -218,12 +218,13 @@ void Ball::ballHadling(void)
void Ball::ball_control()
{
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
- ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
+ ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
// 进攻
if (ready_key == SIDE)
{
+ osThreadFlagsClear(DEF_READY);
switch (rc_key)
{
case MIDDLE2:
@@ -244,10 +245,23 @@ void Ball::ball_control()
// 防守
else if(ready_key == DEF)
{
- xiaomi.position = I_ANGLE; // 保持收回
+ if(hand_thread & DEF_READY)
+ {
+ xiaomi.position = I_ANGLE;
+
+ }
+ // 保持收回
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+ osThreadFlagsClear(EXTEND_OK);
+ osThreadFlagsClear(READY_TELL); // 蓄力标志位
+ osThreadFlagsClear(HANDING_FINISH);
+
+ haveball=0;//变为空球状态
+
+ currentState1 = BALL_IDLE;
+
Send_control();
}
@@ -257,11 +271,12 @@ void Ball::ball_control()
void Ball::ballDown(void)
{
+ osThreadFlagsClear(HANDING_FINISH);
switch (currentState1)
{
case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回
- if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
+ if (feedback->position_deg >= I_ANGLE - 1 && feedback->position_deg <= I_ANGLE + 1)
{
currentState1 = EXTEND_DOWN;
}
@@ -280,7 +295,7 @@ void Ball::ballDown(void)
case EXTEND_OUT:
xiaomi.position = O_ANGLE; // 保持伸出
- if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
+ if (feedback->position_deg >= O_ANGLE - 1 && feedback->position_deg <= O_ANGLE + 1)
{
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
@@ -300,24 +315,89 @@ void Ball::ballDown(void)
}
}
+// void Ball::Idle_control()
+// {
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
+
+// osThreadFlagsClear(EXTEND_OK);
+
+// if (ready_key == SIDE) // 检测是否准备好
+// {
+// xiaomi.position = WAIT_POS;
+// if (feedback->position_deg >= WAIT_POS - 3)
+// {
+// // 只在READY_TELL未置位时发送，防止重复
+// if ((osThreadFlagsGet() & READY_TELL) == 0)
+// {
+// osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
+// }
+// }
+// }
+// else
+// {
+// xiaomi.position = I_ANGLE; // 默认回到收回位置
+// }
+
+// // 拨杆回到中间挡位时，回位并重置状态机
+// if (currentState1 == EXTEND_FINISH) // 转移后
+// {
+// xiaomi.position = I_ANGLE;
+// currentState1 = BALL_IDLE;
+// }
+// if (currentState1 == BALL_FINISH) // 运球完成
+// {
+// xiaomi.position = O_ANGLE;
+// currentState1 = BALL_IDLE;
+// }
+// else
+// {
+// currentState1 = BALL_IDLE;
+// }
+// // xiaomi.position = I_ANGLE;
+// }
+
void Ball::Idle_control()
{
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
+ if(ball_state==1 && haveball==0)// 读取光电状态(有球 0，无球 1)
+ {
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸张开
+
+ }
+ if(ball_state==0)
+ {
+ haveball=1;//变为持球状态
+ osDelay(500);
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸闭合
+ }
+
+
+ // HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保爪气缸关闭
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
osThreadFlagsClear(EXTEND_OK);
if (ready_key == SIDE) // 检测是否准备好
{
- xiaomi.position = WAIT_POS;
- if (feedback->position_deg >= WAIT_POS - 3)
+ if(hand_thread & HANDING_FINISH)
{
+ xiaomi.position=HANGDING_POS;//继续保持外伸
+
+ }
+ else
+ {
+ xiaomi.position = WAIT_POS;
+ if (feedback->position_deg >= WAIT_POS - 3)
+ {
// 只在READY_TELL未置位时发送，防止重复
if ((osThreadFlagsGet() & READY_TELL) == 0)
{
osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
}
+ }
}
+
+
}
else
{
@@ -339,9 +419,11 @@ void Ball::Idle_control()
{
currentState1 = BALL_IDLE;
}
- // xiaomi.position = I_ANGLE;
+
}
+
+
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
@@ -353,8 +435,8 @@ void Ball::ballHadling(void)
case BALL_IDLE:
if (rc_key == DOWN2)
{
- xiaomi.position = O_ANGLE; // 外伸
- if (feedback->position_deg >= O_ANGLE - 1) // 确保伸缩电机到位
+ xiaomi.position = HANGDING_POS; // 外伸
+ if (feedback->position_deg >= HANGDING_POS - 0.5f) // 确保伸缩电机到位
{
currentState1 = BALL_FORWARD;
}
@@ -399,7 +481,7 @@ void Ball::ballHadling(void)
case BALL_FINISH:
osDelay(50); // 延时 50ms
- // osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
+ osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 确保气缸爪子闭合
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
break;
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index 8595c5f..afd771e 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -74,11 +74,10 @@ public:
int16_t extern_key;
int16_t ready_key; //准备按键
//用于传接球,运球后通知
- volatile BallState_t ballStatus;//是否有球
volatile uint32_t hand_thread;//接收传回的线程通知
private:
-
+ bool haveball;
};
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 62765dd..0246bbc 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
@@ -29,19 +29,22 @@ double test_distance;
const fp32 Shoot::M2006_speed_PID[3] = {5, 0, 0.01};
const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
-#define TO_TOP 10.0f
+#define TO_TOP 13.0f
#define TO_BOTTOM 6.0f
-#define INIT_POS -130
+#define INIT_POS -120
#define TOP_POS -211
#define BOTTOM_POS 0
+#define WAIT_POS -170
+#define CHANEGE_POS -205
#define GO_ERROR 1.0f
-#define Tigger_DO 0
-#define Tigger_ZERO 120
+#define Tigger_DO -10
+#define Tigger_ZERO 115
#define Tigger_ERROR 3
float knob_increment;
double last_distance = 4.0f; // 4米做测试吧
+double last_pass = 4.0f; // 4米做测试吧
Shoot::Shoot()
{
@@ -71,6 +74,7 @@ Shoot::Shoot()
currentState = SHOOT_IDLE;
LowPassFilter2p_Init(&distance_filter, 500.0f, 80.0f); // 给distance 做滤波
+ LowPassFilter2p_Init(&pass_filter, 500.0f, 80.0f); // 给distance 做滤波
}
void Shoot::trigger_control()
@@ -82,14 +86,27 @@ void Shoot::trigger_control()
CAN_cmd_200(result, 0, 0, 0, &hcan1);
}
+//好使老拟合
+// float shoot_fitting(float x)
+// {
+// return 0.67076341f * x * x + 20.212423f * x + -154.53966f + 1.0f;
+// }
+
+// float shoot_fitting(float x)
+// {
+// return 1.4255807f * x * x + 12.138447f * x + -136.35306f;
+// }
+
float shoot_fitting(float x)
{
- return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f;
+ return 1.2143736f * x * x + 14.733786f * x + -133.3627f;
}
+
+
float pass_fitting(float x)
{
- return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f;
+ return 0.36807548f * x * x + 25.002169f * x + -199.2727f;
}
void Shoot::distanceGet(const NUC_t &nuc_v)
@@ -100,8 +117,13 @@ void Shoot::distanceGet(const NUC_t &nuc_v)
last_distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x);
}
+ if(nuc_v.vision.y >= 0.0f && nuc_v.vision.y <= 7.5f)
+ {
+ last_pass = LowPassFilter2p_Apply(&pass_filter, nuc_v.vision.y);
+ }
// 否则不更新，保持上一次的值
distance = last_distance;
+ pass_distance =last_pass;
}
int Shoot::GO_SendData(float pos, float limit)
@@ -216,6 +238,7 @@ void Shoot::rc_mode()
#if ONE_CONTROL == 0
+float and1=0.0f;
void Shoot::shoot_control()
{
@@ -225,8 +248,10 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
- fire_pos = distance; // 视觉拟合的力
- // fire_pos =shoot_fitting(test_distance);
+ //fire_pos = distance; // 视觉拟合的力
+ fire_pos =shoot_fitting(distance)+and1;
+ //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+
switch (rc_key)
{
case DOWN1:
@@ -266,8 +291,8 @@ void Shoot::shoot_control()
break;
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 = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+ fire_pos =pass_fitting(pass_distance);
switch (rc_key)
{
case DOWN1:
@@ -311,7 +336,7 @@ void Shoot::shoot_control()
break;
}
- abs_limit_min_max_fp(&go1.Pos, -210.0f, 2.0f);
+ abs_limit_min_max_fp(&go1.Pos, -210.0f, 8.0f);
// 发送数据到蓄力电机
GO_SendData(go1.Pos, limit_speed);
@@ -390,6 +415,10 @@ void Shoot::RemoveError()
#if ONE_CONTROL
+//float and1=-1.5f;
+float and1=0;
+float and2=0;
+
void Shoot::shoot_control()
{
@@ -404,7 +433,9 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
- fire_pos = shoot_fitting(distance); // 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)
{
case MIDDLE1:
@@ -420,8 +451,8 @@ 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);
}
}
@@ -434,7 +465,7 @@ 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
@@ -458,7 +489,7 @@ void Shoot::shoot_control()
switch (rc_key)
{
case MIDDLE1:
- fire_pos = pass_fitting(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
@@ -473,8 +504,8 @@ 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
@@ -489,7 +520,7 @@ 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
@@ -515,10 +546,28 @@ void Shoot::shoot_control()
}
else if (ready_key == DEFENSE)
{
- control_pos = TOP_POS - 2.0f; //-209
+
+ control_pos = WAIT_POS; //-209
go1.Pos = control_pos;
limit_speed = TO_TOP; // 快速上去
- t_posSet = Tigger_ZERO; // 扳机松开
+ if(feedback.fd_gopos < WAIT_POS +2.0f)
+ {
+ t_posSet = Tigger_ZERO; // 扳机松开
+ //osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
+
+ // 只在READY_TELL未置位时发送，防止重复
+ if ((osThreadFlagsGet() & DEF_READY) == 0)
+ {
+ osThreadFlagsSet(task_struct.thread.ball, DEF_READY);
+ }
+
+ }
+
+ osThreadFlagsClear(EXTEND_OK);
+ osThreadFlagsClear(READY_TELL); // 蓄力标志位
+ osThreadFlagsClear(HANDING_FINISH);
+ currentState = SHOOT_IDLE;
+
}
else
{
@@ -533,6 +582,7 @@ void Shoot::shoot_control()
trigger_control();
}
+
// 配合运球到发射
void Shoot ::ball_receive()
{
@@ -542,11 +592,17 @@ void Shoot ::ball_receive()
// 初始状态：钩子移动到顶部，钩住拉簧
if (shoot_thread & READY_TELL) // 如果收到等待通知
{
- control_pos = TOP_POS;
- limit_speed = TO_TOP; // 快速上去
t_posSet = Tigger_ZERO;
+ if(trigger_Motor->total_angle > Tigger_ZERO-5 )
+ {
+ control_pos = TOP_POS;
+ limit_speed = TO_TOP; // 快速上去
+
+
+ }
if (feedback.fd_gopos < -209)
{
+
currentState = GO_TOP; // 切换到准备发射状态
}
}
@@ -591,7 +647,7 @@ 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;
}
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 54d1f7d..02c0ede 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -87,6 +87,7 @@ public:
//滤波器
LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
+ LowPassFilter2p_t pass_filter;
//==========================公共变量==========================
int16_t rc_key; //遥控器按键
@@ -97,6 +98,7 @@ public:
volatile uint32_t shoot_thread;//接收传回的线程通知
fp32 distance; //视觉距离
+ fp32 pass_distance; //视觉距离
private:
//扳机2006
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 6408282..86a6556 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -22,7 +22,7 @@ void FunctionBall(void *argument)
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
- osDelay(6000);//等待极致控制板启动
+ osDelay(6000);//等待极致控制板启动
XiaomiWait_init(1,&hcan2); //小米电机初始化
uint32_t tick = osKernelGetTickCount();
@@ -36,10 +36,13 @@ void FunctionBall(void *argument)
//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.rc_mode(); // 遥控器模式
- ball.ball_control(); // 控制球的动作
+ 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);
diff --git a/User/task/encodeCan.cpp b/User/task/encodeCan.cpp
index 261904d..e82dff5 100644
--- a/User/task/encodeCan.cpp
+++ b/User/task/encodeCan.cpp
@@ -26,7 +26,7 @@ void FunctionCan(void *argument)
task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());
#endif
- waitNewDji();
+ //waitNewDji();
djiMotorEncode();
can2MotorEncode();
diff --git a/User/task/userTask.h b/User/task/userTask.h
index 89353a7..8411584 100644
--- a/User/task/userTask.h
+++ b/User/task/userTask.h
@@ -14,7 +14,7 @@ extern "C" {
/* 所有任务都要define一个“任务运行频率”和“初始化延时” */
#define TASK_FREQ_SHOOT (500u)
-#define TASK_FREQ_CAN (1500u)
+#define TASK_FREQ_CAN (500u)
#define TASK_FREQ_AI (500u)
#define TASK_FREQ_BALL (500u)