diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 2f9a659..05e63b4 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -57,7 +57,6 @@ void EXTI0_IRQHandler(void);
void EXTI4_IRQHandler(void);
void DMA1_Stream1_IRQHandler(void);
void CAN1_RX0_IRQHandler(void);
-void CAN1_RX1_IRQHandler(void);
void EXTI9_5_IRQHandler(void);
void TIM1_UP_TIM10_IRQHandler(void);
void USART1_IRQHandler(void);
@@ -65,7 +64,6 @@ void USART3_IRQHandler(void);
void DMA2_Stream1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream3_IRQHandler(void);
-void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
void DMA2_Stream5_IRQHandler(void);
void DMA2_Stream6_IRQHandler(void);
diff --git a/Core/Src/can.c b/Core/Src/can.c
index a2ce270..2b955fa 100644
--- a/Core/Src/can.c
+++ b/Core/Src/can.c
@@ -81,7 +81,7 @@ void MX_CAN2_Init(void)
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
- hcan2.Init.TransmitFifoPriority = ENABLE;
+ hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
{
Error_Handler();
@@ -124,8 +124,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
- HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
- HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
@@ -155,8 +153,6 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* CAN2 interrupt Init */
- HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
- HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspInit 1 */
@@ -187,7 +183,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
- HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
@@ -211,7 +206,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* CAN2 interrupt Deinit */
- HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 8ca03ce..48f8d8f 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -250,20 +250,6 @@ void CAN1_RX0_IRQHandler(void)
/* USER CODE END CAN1_RX0_IRQn 1 */
}
-/**
- * @brief This function handles CAN1 RX1 interrupt.
- */
-void CAN1_RX1_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN1_RX1_IRQn 0 */
-
- /* USER CODE END CAN1_RX1_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan1);
- /* USER CODE BEGIN CAN1_RX1_IRQn 1 */
-
- /* USER CODE END CAN1_RX1_IRQn 1 */
-}
-
/**
* @brief This function handles EXTI line[9:5] interrupts.
*/
@@ -363,20 +349,6 @@ void DMA2_Stream3_IRQHandler(void)
/* USER CODE END DMA2_Stream3_IRQn 1 */
}
-/**
- * @brief This function handles CAN2 RX0 interrupts.
- */
-void CAN2_RX0_IRQHandler(void)
-{
- /* USER CODE BEGIN CAN2_RX0_IRQn 0 */
-
- /* USER CODE END CAN2_RX0_IRQn 0 */
- HAL_CAN_IRQHandler(&hcan2);
- /* USER CODE BEGIN CAN2_RX0_IRQn 1 */
-
- /* USER CODE END CAN2_RX0_IRQn 1 */
-}
-
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index f1eeecc..b185d46 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -44,3 +44,19 @@
[info] Log at : 2025/6/20|09:52:08|GMT+0800
+[info] Log at : 2025/6/20|19:02:32|GMT+0800
+
+[info] Log at : 2025/6/21|01:54:17|GMT+0800
+
+[info] Log at : 2025/6/21|09:59:57|GMT+0800
+
+[info] Log at : 2025/6/21|17:02:34|GMT+0800
+
+[info] Log at : 2025/6/22|13:36:33|GMT+0800
+
+[info] Log at : 2025/6/23|15:15:24|GMT+0800
+
+[info] Log at : 2025/6/23|16:29:17|GMT+0800
+
+[info] Log at : 2025/6/24|12:24:51|GMT+0800
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index e193909..0751b3e 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -1,4 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
+compiling ball.cpp...
+linking...
+Program Size: Code=30768 RO-data=1832 RW-data=260 ZI-data=32244
+FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
-Build Time Elapsed: 00:00:07
+Build Time Elapsed: 00:00:05
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index 90cdfe0..8d7ef38 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/6/20 9:52:48
\ No newline at end of file
+2025/6/24 2:11:53
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index b8f472a..79f860a 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -150,7 +150,7 @@
0
ST-LINKIII-KEIL_SWO
- -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($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
+ -U00160029510000164E574E32 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)
@@ -168,47 +168,17 @@
2
1
- cmd_fromnuc
+ ball,0x0A
3
1
- nucbuf
+ aaaa,0x0A
4
1
- goangle,0x0A
-
-
- 5
- 1
- ball,0x0A
-
-
- 6
- 1
- task_struct,0x0A
-
-
- 7
- 1
- abc,0x0A
-
-
- 8
- 1
- ball_state,0x0A
-
-
- 9
- 1
- triggerCount,0x0A
-
-
- 10
- 1
- last_ball_state,0x0A
+ aaaxxx,0x0A
diff --git a/MDK-ARM/README.md b/MDK-ARM/README.md
index 5264b48..dfbbd1f 100644
--- a/MDK-ARM/README.md
+++ b/MDK-ARM/README.md
@@ -23,3 +23,14 @@ r1上层
+ 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
++ 我现在已经收到了运球完成的信号
+ + 发射就应该去蓄力接球了
+ + 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 (发送归位信号?)
diff --git a/R1.ioc b/R1.ioc
index a12ab7a..b80f97b 100644
--- a/R1.ioc
+++ b/R1.ioc
@@ -21,7 +21,7 @@ CAN2.CalculateTimeQuantum=71.42857142857143
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,BS1,BS2,Prescaler,TXFP,NART
CAN2.NART=DISABLE
CAN2.Prescaler=3
-CAN2.TXFP=ENABLE
+CAN2.TXFP=DISABLE
Dma.Request0=SPI1_RX
Dma.Request1=SPI1_TX
Dma.Request2=USART3_RX
@@ -181,8 +181,6 @@ MxCube.Version=6.14.1
MxDb.Version=DB.6.0.141
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
NVIC.CAN1_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_RX0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 8fd3b95..fb37b6c 100644
--- a/User/bsp/TopDefine.h
+++ b/User/bsp/TopDefine.h
@@ -14,18 +14,17 @@
#ifndef _AUTO
#define _AUTO 0
#endif
+
+
+#define TESTUP 1
+#define ONE_CONTROL 0
+
//是否使用大疆DT7遥控器
#ifndef DT7
#define DT7 0
#endif
-// //是否使用三摩擦
-// #ifndef HANDLING3
-// #define HANDLING3 1
-// #endif
-//云台使用类型
-#ifndef GM6020ING
-#define GM6020ING 1
-#endif
+
+
//=============================================
//================任务通知,时间组================//
//事件组
@@ -35,17 +34,13 @@
//================任务通知================//
//运球
#define BALL_DOWN (1<<1)
-//接到放球命令
-#define PUT_CMD (1<<2)
-//运球结束
-#define PUT_OK (1<<2)
+//运球结束
+#define PREPARE (1<<0)
-#define EXTEND_OK (1<<5)
+//伸缩结束
+#define EXTEND_OK (1<<3)
-
-//take任务要等待上面两个标志位
-#define TAKE_WAIT (0x0C)
//要发送ok了
#define BALL_SEND (1<<6)
//能够处理放球命令
diff --git a/User/device/djiMotor.c b/User/device/djiMotor.c
index c1e775d..c2f4edb 100644
--- a/User/device/djiMotor.c
+++ b/User/device/djiMotor.c
@@ -66,17 +66,17 @@
(ptr)->offset_ecd = (ptr)->ecd; \
}
- static void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
- {
- // 检查接收到的ID是否匹配我们期望的VESC状态消息ID
- // 提取数据字段
- feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
- feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
- feedback->torque_current /= 1000; // 将单位从 0.1A 转换为实际电流值
- feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
- feedback->duty_cycle /= 1000.0f; // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
+// static void VescMotor_Decode(CAN_MotorFeedback_t *feedback, CAN_RxHeaderTypeDef *rx_header, const uint8_t *rx_data)
+// {
+// // 检查接收到的ID是否匹配我们期望的VESC状态消息ID
+// // 提取数据字段
+// feedback->rotor_speed = ((int32_t)(rx_data[0]) << 24) | ((int32_t)(rx_data[1]) << 16) | ((int32_t)(rx_data[2]) << 8) | ((int32_t)(rx_data[3]));
+// feedback->torque_current = ((int16_t)(rx_data[5]) << 8) | (int16_t)(rx_data[4]);
+// feedback->torque_current /= 1000; // 将单位从 0.1A 转换为实际电流值
+// feedback->duty_cycle = ((int16_t)(rx_data[7]) << 8) | (int16_t)(rx_data[6]);
+// feedback->duty_cycle /= 1000.0f; // 将单位从千分之一转换为实际的占空比值 (-1.0 到 1.0)
- }
+// }
//小米
#define ID_xiaomi 1
@@ -178,23 +178,6 @@ void djiMotorEncode()
void can2MotorEncode()
{
- switch (rx_header.ExtId) {
-
- case CAN_VESC5065_M1_MSG1:
- // 存储消息到对应的电机结构体中
- VescMotor_Decode(&motor_5065[0], &rx_header,rx_data);
- break;
- case CAN_VESC5065_M2_MSG1:
- // 存储消息到对应的电机结构体中
- VescMotor_Decode(&motor_5065[1], &rx_header,rx_data);
- case CAN_VESC5065_M3_MSG1:
- // 存储消息到对应的电机结构体中
- VescMotor_Decode(&motor_5065[2], &rx_header,rx_data);
- break;
-
- default:
- break;
- }
switch (rx_data[0])
{
@@ -239,6 +222,8 @@ void Dji_Motor_CB()
void can2_Motor_CB(void)
{
HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &rx_header, rx_data);
+
+ //osThreadFlagsSet(thread_alert, EVENT_CAN);
}
/**
@@ -249,12 +234,15 @@ 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,
can2_Motor_CB);
- can_filter_init();
+ can_filter_init();
}
/**
@@ -486,6 +474,27 @@ return DEVICE_OK;
feedback->can_id = rx_data[0];
}
+void XiaomiWait_init(int id,CAN_HandleTypeDef*hcan)
+{
+ uint32_t send_mail_box;
+
+ tx_message.StdId = id;
+ tx_message.IDE = CAN_ID_STD;
+ tx_message.RTR = CAN_RTR_DATA;
+ tx_message.DLC = 0x08;
+
+ can_send_data[0] = 0xFF;
+ can_send_data[1] = 0xFF;
+ can_send_data[2] = 0xFF;
+ can_send_data[3] = 0xFF;
+ can_send_data[4] = 0xFF;
+ can_send_data[5] = 0xFF;
+ can_send_data[6] = 0xFF;
+ can_send_data[7] = 0xFC;
+
+ HAL_CAN_AddTxMessage(hcan, &tx_message, can_send_data, &send_mail_box);
+}
+
void CAN_XiaoMi(int id,JZ_xiaomi_t *JZ_xiaomi,CAN_HandleTypeDef*hcan)
{
@@ -507,12 +516,12 @@ void CAN_XiaoMi(int id,JZ_xiaomi_t *JZ_xiaomi,CAN_HandleTypeDef*hcan)
can_send_data[2] = (speed_code >> 4) & 0xFF; // 速度高8位（取12位中的高8）
can_send_data[3] = ((speed_code & 0x0F) << 4) | ((JZ_xiaomi->K_P >> 8) & 0x0F); // 速度低4位 + Kp高4位
- can_send_data[4] = JZ_xiaomi->K_P & 0xFF; // Kp低8位
+ can_send_data[4] = JZ_xiaomi->K_P & 0xFF; // Kp低8位 位置增益
- can_send_data[5] = (JZ_xiaomi->K_D >> 4) & 0xFF; // Kd高8位（取12位中的高8）
+ can_send_data[5] = (JZ_xiaomi->K_D >> 4) & 0xFF; // Kd高8位（取12位中的高8） 位置阻尼
can_send_data[6] = ((JZ_xiaomi->K_D & 0x0F) << 4) | ((current_code >> 8) & 0x0F); // Kd低4位 + 电流高4位
- can_send_data[7] = current_code & 0xFF; // 电流低8位
+ can_send_data[7] = current_code & 0xFF; // 电流低8位 力矩
}
else
diff --git a/User/device/djiMotor.h b/User/device/djiMotor.h
index 890e442..7e4e975 100644
--- a/User/device/djiMotor.h
+++ b/User/device/djiMotor.h
@@ -199,6 +199,7 @@ int8_t CAN_VESC_Control(int id,int speed ,CAN_HandleTypeDef*hcan);
void Parse_CAN_Response(uint8_t* rx_data, MotorFeedback_t* feedback) ;
+void XiaomiWait_init(int id,CAN_HandleTypeDef*hcan);
void CAN_XiaoMi(int id,JZ_xiaomi_t *JZ_xiaomi,CAN_HandleTypeDef*hcan);
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 80ec55f..3ec8726 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -86,7 +86,8 @@ int8_t NUC_RawParse(NUC_t *n) {
case VISION:
/* 协议格式
0xFF HEAD
- 0x02 控制帧
+ 0x09
+ 控制帧
0x01 相机帧
x fp32
y fp32
diff --git a/User/lib/calc_lib.c b/User/lib/calc_lib.c
index f6e80d8..bcf12e8 100644
--- a/User/lib/calc_lib.c
+++ b/User/lib/calc_lib.c
@@ -22,18 +22,18 @@ void user_delay_ms(uint16_t ms)
}
}
-//¸¡µãÊý·¶Î§ÏÞÖÆ
-void abs_limit_fp(fp32 *num, fp32 Limit)
-{
- if (*num > Limit)
- {
- *num = Limit;
- }
- else if (*num < -Limit)
- {
- *num = -Limit;
- }
-}
+// //¸¡µãÊý·¶Î§ÏÞÖÆ
+// void abs_limit_fp(fp32 *num, fp32 Limit)
+// {
+// if (*num > Limit)
+// {
+// *num = Limit;
+// }
+// else if (*num < -Limit)
+// {
+// *num = -Limit;
+// }
+// }
//ÕûÊý·¶Î§ÏÞÖÆ
void abs_limit_int(int64_t *num, int64_t Limit)
@@ -137,3 +137,33 @@ bool is_reached_multiple(float current1, float current2, float current3, float t
}
return false; // 未满足条件达到阈值，返回 0
}
+
+
+//限幅
+void abs_limit_fp(fp32 *num, fp32 Limit)
+{
+ if (*num > Limit)
+ {
+ *num = Limit;
+ }
+ else if (*num < -Limit)
+ {
+ *num = -Limit;
+ }
+}
+//改原始值，限制最大最小
+fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max)
+{
+ if (*num > Limit_max)
+ {
+ *num = Limit_max;
+ return Limit_max;
+ }
+ else if (*num < Limit_min)
+ {
+ *num = Limit_min;
+ return Limit_min;
+ }
+
+}
+
diff --git a/User/lib/calc_lib.h b/User/lib/calc_lib.h
index 3b4ef5a..8cf8678 100644
--- a/User/lib/calc_lib.h
+++ b/User/lib/calc_lib.h
@@ -34,6 +34,8 @@ float expo_map(float value, float expo_factor);
bool is_reached_multiple(float current1, float current2, float current3, float target1, float target2, float target3, float mistake, int threshold);
+fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max);
+
#ifdef __cplusplus
}
#endif
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 149830b..9558457 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -7,13 +7,10 @@
#include "shoot.hpp"
extern RC_ctrl_t rc_ctrl;
-extern int key;
//伸缩
-#define I_ANGLE 0
-#define O_ANGLE 140
-
-
+#define I_ANGLE 147
+#define O_ANGLE 187
//PE11 气缸
@@ -25,12 +22,20 @@ Ball ::Ball()
feedback=get_CyberGear_point();
//小米电机初始化
- xiaomi.position = 0; //
- xiaomi.speed = 20; //
- xiaomi.K_P = 100; //
- xiaomi.K_D =20; //
- xiaomi.K_C = 2 ;
- xiaomi.Pmax =1;
+ xiaomi.position = I_ANGLE; //
+ xiaomi.speed = 25; //
+ xiaomi.K_P = 80; // 位置增益
+ xiaomi.K_D =20; // 位置阻尼
+ xiaomi.K_C = 50 ; // 力矩
+ xiaomi.Pmax =1; //好像没啥用
+
+ // //小米电机初始化
+ // xiaomi.position = 0; //
+ // xiaomi.speed = 0; //
+ // xiaomi.K_P = 0; //
+ // xiaomi.K_D =0; //
+ // xiaomi.K_C = 0 ;
+ // xiaomi.Pmax =0;
//状态机状态初始化
currentState1= BALL_IDLE;
@@ -68,7 +73,15 @@ void Ball::rc_mode()
}
-#if TESTBALL
+void Ball::Send_control()
+{
+
+ CAN_XiaoMi(1,&xiaomi,&hcan2);
+ osDelay(1);
+
+}
+
+#if TESTUP
void Ball::ballDown(void)
{
@@ -82,11 +95,11 @@ void Ball::Move_Extend()
{
if(extern_key==IN)
{
- xiaomi.position = 0;
+ xiaomi.position = I_ANGLE;
}
if(extern_key==OUT)
{
- xiaomi.position = 90;
+ xiaomi.position = O_ANGLE;
}
}
@@ -124,16 +137,6 @@ void Ball::ball_control()
}
-
-void Ball::Send_control()
-{
-
- CAN_XiaoMi(1,&xiaomi,&hcan2);
- osDelay(1);
-
-}
-
-
int ball_state = 0;
int triggerCount = 0; // 光电传感器触发计数
int last_ball_state = 1; // 上一次的光电状态
@@ -146,9 +149,8 @@ void Ball::ballHadling(void)
case BALL_IDLE:
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
- if (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下
+ if (rc_key == DOWN2) // 检测按键是否被按下
{
- key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数
currentState1 = BALL_FORWARD;
}
@@ -177,7 +179,6 @@ void Ball::ballHadling(void)
break;
case BALL_FLAG:
- osDelay(10); // 延时 50ms
if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
{
triggerCount++; // 增加触发计数
@@ -189,7 +190,7 @@ void Ball::ballHadling(void)
case BALL_CLOSE:
if (triggerCount == 2) // 确保是第二次触发
{
- osDelay(50);
+ //osDelay(5);
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
currentState1 = BALL_FINISH; // 切换到反转状态
}
@@ -199,7 +200,6 @@ void Ball::ballHadling(void)
osDelay(50); // 延时 50ms
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
- key = 0; // 重置按键状态
triggerCount = 0; // 重置触发计数
//currentState1 = BALL_IDLE; // 回到空闲状态
@@ -218,63 +218,6 @@ void Ball::ballHadling(void)
#if ONE_CONTROL
-//任务通知来作全过程
-
-void Ball::ballDown(void)
-{
- xiaomi.position = I_ANGLE;
- if(feedback->position_deg== I_ANGLE) // 确保伸缩电机到位
- {
- HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET); // 打开气缸爪子
- HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
- }
- if(ball_state==0)//检测到球
- {
- osThreadFlagsSet(task_struct.thread.ball, BALL_DOWN);
- //osThreadFlagsSet(task_struct.thread.shoot, BALL_DOWN);
- xiaomi.position = O_ANGLE;
-
- }
- if(hand_thread & BALL_DOWN)
- {
- if(feedback->position_deg== O_ANGLE)
- {
- osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK); //告诉发射球出去了
- osThreadFlagsSet(task_struct.thread.ball, EXTEND_OK); //告诉发射球出去了
-
- }
-
- }
-
-
-}
-
-void Ball::Idle_control()
-{
- HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
-
- if(hand_thread & EXTEND_OK)
- {
- xiaomi.position = O_ANGLE; // 伸缩电机伸出去
-
- }
- else
- {
- xiaomi.position = I_ANGLE; // 伸缩电机回位,底盘可能跑的更好
-
- }
-
- if (currentState1 == BALL_FINISH)
- {
- currentState1 = BALL_IDLE;
- }
- else {
- currentState1 = BALL_IDLE; // 默认回到空闲状态
- }
-
-}
-
void Ball::ball_control()
{
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
@@ -289,9 +232,9 @@ void Ball::ball_control()
ballDown();
break;
- case DOWN2:
- ballHadling();
-
+ case DOWN2:
+ osThreadFlagsSet(task_struct.thread.shoot, PREPARE); // 通知发射任务快点去蓄力
+ ballHadling();
break;
}
@@ -301,14 +244,62 @@ void Ball::ball_control()
}
-void Ball::Send_control()
-{
-
- CAN_XiaoMi(1,&xiaomi,&hcan2);
- osDelay(1);
+//任务通知来作全过程
+void Ball::ballDown(void)
+{
+ 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)
+ {
+ currentState1 = EXTEND_DOWN;
+ }
+ break;
+
+ case EXTEND_DOWN:
+ HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_Pin, GPIO_PIN_SET);
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+ // 检测到球自由下落一次就切换状态
+ if(ball_state == 0)
+ {
+ currentState1 = EXTEND_OUT;
+ }
+ break;
+
+ 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)
+ {
+ osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
+ currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
+ }
+ break;
+
+ case EXTEND_FINISH:
+ xiaomi.position = O_ANGLE; // 一直保持伸出
+ // 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
+ break;
+
+ default:
+ currentState1 = BALL_IDLE;
+ break;
+ }
}
+void Ball::Idle_control()
+{
+ HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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(PREPARE);
+ osThreadFlagsClear(EXTEND_OK);
+
+ // 拨杆回到中间挡位时，回位并重置状态机
+ xiaomi.position = I_ANGLE;
+ currentState1 = BALL_IDLE;
+}
int ball_state = 0;
int triggerCount = 0; // 光电传感器触发计数
@@ -322,11 +313,15 @@ void Ball::ballHadling(void)
case BALL_IDLE:
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
- if (key > 0 ||rc_key == DOWN2) // 检测按键是否被按下
- {
- key = 0; // 重置按键状态
+ if (rc_key == DOWN2)
+ {
+ xiaomi.position = O_ANGLE;//外伸
triggerCount = 0; // 重置触发计数
- currentState1 = BALL_FORWARD;
+ if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
+ {
+ currentState1 = BALL_FORWARD;
+ }
+
}
break;
@@ -342,7 +337,6 @@ void Ball::ballHadling(void)
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
if (ball_state == 0 && last_ball_state == 1) // 检测到状态从无球变为有球
{
- //osDelay(10); // 延时去抖动
triggerCount++; // 增加触发计数
if (triggerCount == 1) // 第一次触发
{
@@ -353,7 +347,7 @@ void Ball::ballHadling(void)
break;
case BALL_FLAG:
- osDelay(10); // 延时 50ms
+ // osDelay(10); // 延时 50ms
if (triggerCount == 1 && ball_state == 0 && last_ball_state == 1) // 第二次检测到球
{
triggerCount++; // 增加触发计数
@@ -375,11 +369,9 @@ void Ball::ballHadling(void)
osDelay(50); // 延时 50ms
HAL_GPIO_WritePin(PAW_GPIO_Port, PAW_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
- key = 0; // 重置按键状态
+
triggerCount = 0; // 重置触发计数
- //currentState1 = BALL_IDLE; // 回到空闲状态
-
break;
default:
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index 3c7bda2..b0b10cf 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -11,22 +11,23 @@
#include "filter.h"
#include "calc_lib.h"
-#define TESTBALL 0
-#define ONE_CONTROL 1
+
// 定义状态枚举
typedef enum {
BALL_IDLE, // 空闲状态
BALL_FORWARD, //
BALL_DROP, //
- BALL_REVERSE, //
BALL_FLAG,
BALL_CLOSE, // 关闭状态
BALL_FINISH, // 完成状态
//持球状态
BALL_TAKE,
- BALL_LOSE
+ EXTEND_DOWN,
+ EXTEND_OUT,
+ EXTEND_FINISH,
+ BALL_LOSE,
} BallState_t;
@@ -64,7 +65,7 @@ public:
void Extend_mcontrol(int angle1,int angle2);
void ball_control(void);
- BallState_t currentState1; // 当前状态
+ BallState_t currentState1; // 运球任务状态机
int flag_thread;//暂时还没用到
int ball_state ;//光电检测
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 80dd4e3..e8f8c63 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -22,12 +22,16 @@ NUC_t nuc_v;
//尽量别动这组pid
const fp32 Shoot:: M2006_speed_PID[3] = {5, 0, 0.01};
-const fp32 Shoot:: M2006_angle_PID[3] = { 25, 0.1, 0};
+const fp32 Shoot:: M2006_angle_PID[3] = { 15, 0.1, 0};
+
+#define TO_TOP 10.0f
+#define TO_BOTTOM 5.0f
#define INIT_POS -130
#define TOP_POS -210
+#define BOTTOM_POS 0
#define GO_ERROR 1.0f
-#define Tigger_DO -10
+#define Tigger_DO 0
#define Tigger_ZERO 100
#define Tigger_ERROR 3
@@ -61,6 +65,7 @@ Shoot::Shoot()
currentState= SHOOT_IDLE;
+ LowPassFilter2p_Init(&distance_filter,500.0f,80.0f); //给distance 做滤波
}
@@ -78,7 +83,8 @@ void Shoot::trigger_control()
void Shoot :: distanceGet(const NUC_t &nuc_v)
{
- distance=nuc_v.vision.x; // 获取自瞄数据
+ distance= LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x); // 对视觉距离进行滤波处理
+ //distance=nuc_v.vision.x; // 获取自瞄数据
}
@@ -151,22 +157,41 @@ void Shoot::rc_mode()
// 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[7]; // 获取当前旋钮值
- //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[7]; // 获取当前旋钮值
+ // // 计算旋钮增量
+ // if (current_knob_value >= 200 && current_knob_value <= 1800) {
+ // knob_increment = (current_knob_value - last_knob_value) / 15.0f; // 每80单位对应一个增量
+ // } else {
+ // knob_increment = 0; // 如果旋钮值超出范围，不产生增量
+ // }
- // 计算旋钮增量
- if (current_knob_value >= 200 && current_knob_value <= 1800) {
- knob_increment = (current_knob_value - last_knob_value) / 15.0f; // 每80单位对应一个增量
- } else {
- knob_increment = 0; // 如果旋钮值超出范围，不产生增量
- }
+ // 旋钮物理范围
+const int knob_min = 200;
+const int knob_max = 1800;
+
+// 目标映射范围
+const float map_min = 130.0f;
+const float map_max = -60.0f;
+
+int current_knob_value = rc_ctrl.sw[7];
+
+// 限制范围
+if (current_knob_value < knob_min) current_knob_value = knob_min;
+if (current_knob_value > knob_max) current_knob_value = knob_max;
+
+// 线性映射
+knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
}
+
+
+#if TESTUP
+
void Shoot::shoot_control() {
//方便调试
@@ -181,13 +206,13 @@ void Shoot::shoot_control() {
control_pos = INIT_POS; // 默认中间挡位位置
go1.Pos = fire_pos; // 设置蓄力电机位置
- t_posSet = Tigger_ZERO; // 扳机松开
+ //t_posSet = Tigger_ZERO; // 扳机松开
if (currentState == SHOOT_READY) {
// 如果当前状态是准备发射，松开钩子发射
t_posSet = Tigger_ZERO; // 扳机扣动
BSP_Buzzer_Stop();
- if (t_posSet >= 95) { // 假设120度为发射完成角度
+ if (t_posSet >= Tigger_ZERO-20) { // 假设120度为发射完成角度
currentState = SHOOT_IDLE; // 切换到空闲状态
is_hooked = false; // 重置钩子状态
}
@@ -216,16 +241,14 @@ break;
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
- //fire_pos = control_pos + knob_increment; // 根据旋钮值调整发射位置
go1.Pos = fire_pos; // 设置蓄力电机位置
- t_posSet = Tigger_ZERO; // 扳机松开
+ //t_posSet = Tigger_ZERO; // 扳机松开
if (currentState == SHOOT_READY) {
// 如果当前状态是准备发射，松开钩子发射
t_posSet = Tigger_ZERO; // 扳机扣动
BSP_Buzzer_Stop();
- if (t_posSet >= 95) { // 假设120度为发射完成角度
+ if (t_posSet >= Tigger_ZERO-20) { // 假设120度为发射完成角度
currentState = SHOOT_IDLE; // 切换到空闲状态
is_hooked = false; // 重置钩子状态
}
@@ -253,6 +276,8 @@ break;
}
+
+ abs_limit_min_max_fp(&go1.Pos ,-210.0f,2.0f);
// 发送数据到蓄力电机
GO_SendData(go1.Pos, 5.0f);
@@ -276,7 +301,7 @@ void Shoot :: shoot_Current()
case SHOOT_TOP:
t_posSet = Tigger_DO; // 扳机扣动钩住
- if (trigger_Motor->total_angle<-6)
+ if (trigger_Motor->total_angletotal_angle>Tigger_DO-1.0f)
{
//判定为钩住
is_hooked = true; // 标记钩子已钩住
@@ -322,3 +347,180 @@ void Shoot::RemoveError() {
go1.Pos = control_pos;
}
+
+#endif
+
+#if ONE_CONTROL
+
+
+void Shoot::shoot_control() {
+
+//方便调试 反馈信息
+feedback.fd_gopos = go1_data->Pos;
+feedback.fd_tpos = trigger_Motor->total_angle;
+
+
+shoot_thread = osThreadFlagsGet(); // 获取任务通知标志位
+
+switch (mode_key)
+ {
+ case VSION:
+ fire_pos = distance; // 视觉拟合的力
+ switch (rc_key) {
+ case MIDDLE1:
+
+ if(shoot_thread & PREPARE) // 如果收到放球完成的通知
+ {
+ ball_receive(); // 执行接收球的操作
+
+ }
+
+ if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
+ {
+ go1.Pos = fire_pos; // 设置蓄力电机位置
+ if(feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
+ {
+ BSP_Buzzer_Start();
+ BSP_Buzzer_Set(1,5000);
+ }
+ }
+ break;
+
+ case DOWN1:
+ if(shoot_thread & EXTEND_OK)
+ {
+ BSP_Buzzer_Stop();
+ t_posSet = Tigger_ZERO; // 扳机扣动 射出
+ currentState = SHOOT_IDLE; // 默认回到空闲状态
+ osThreadFlagsClear(EXTEND_OK);
+ }
+
+ break;
+
+ case UP1:
+ RemoveError();
+ break;
+
+ default:
+ break;
+ }
+break;
+
+//无自瞄拟合测试档
+ case TEST:
+ switch (rc_key) {
+ case MIDDLE1:
+
+ if(shoot_thread & PREPARE) // 如果收到放球完成的通知
+ {
+ ball_receive(); // 执行接收球的操作
+
+ }
+
+ if(shoot_thread & EXTEND_OK) // 如果收到伸缩完成的通知
+ {
+ fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+ go1.Pos = fire_pos; // 设置蓄力电机位置
+ if(feedback.fd_gopos >= fire_pos - GO_ERROR && feedback.fd_gopos <= fire_pos + GO_ERROR)
+ {
+ BSP_Buzzer_Start();
+ BSP_Buzzer_Set(1,5000);
+ }
+ }
+ break;
+
+ case DOWN1:
+ if(shoot_thread & EXTEND_OK)
+ {
+ BSP_Buzzer_Stop();
+ t_posSet = Tigger_ZERO; // 扳机扣动 射出
+ currentState = SHOOT_IDLE; // 默认回到空闲状态
+ osThreadFlagsClear(EXTEND_OK);
+ }
+
+ break;
+
+ case UP1:
+ RemoveError();
+ break;
+
+ default:
+ break;
+ }
+
+break;
+
+ default:
+ break;
+ }
+
+
+ abs_limit_min_max_fp(&go1.Pos ,-210.0f,2.0f);
+ // 发送数据到蓄力电机
+ GO_SendData(go1.Pos, limit_speed);
+
+ // 控制扳机电机
+ trigger_control();
+}
+
+//配合运球到发射
+void Shoot ::ball_receive()
+{
+ switch (currentState)
+ {
+ case SHOOT_IDLE:
+ // 初始状态：钩子移动到顶部，钩住拉簧
+ control_pos = TOP_POS;
+ limit_speed=TO_TOP;//快速上去
+ t_posSet = Tigger_ZERO;
+ if(feedback.fd_gopos >= TOP_POS - 0.5f && feedback.fd_gopos <= TOP_POS + 0.5f)
+ {
+ currentState = GO_TOP; // 切换到准备发射状态
+ }
+
+ break;
+ case GO_TOP:
+ t_posSet = Tigger_DO;
+ if (trigger_Motor->total_angletotal_angle>Tigger_DO-1.0f)
+ {
+
+ currentState = BAKC; // 切换到准备发射状态
+ }
+ break;
+ case BAKC:
+ control_pos = BOTTOM_POS;
+ limit_speed=TO_BOTTOM;//慢速下来
+ if(feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
+ {
+
+ osThreadFlagsClear(PREPARE); // 清除任务通知标志位
+ }
+
+ break;
+ }
+
+ //调整go电机位置
+ go1.Pos = control_pos;
+}
+
+void Shoot::RemoveError() {
+ currentState = SHOOT_IDLE;
+ control_pos = TOP_POS;
+ if (feedback.fd_gopos >= control_pos - 0.5f&& feedback.fd_gopos<= control_pos + 0.5f)
+ {
+ t_posSet = Tigger_ZERO;
+ is_hooked = false;
+ }
+ if(trigger_Motor->total_angle>=Tigger_ZERO-10)
+ {
+ //认为完全松开
+ control_pos=INIT_POS;
+ BSP_Buzzer_Stop();
+
+ }
+
+ go1.Pos = control_pos;
+}
+
+
+#endif
diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp
index 89563fe..76bc8ec 100644
--- a/User/module/shoot.hpp
+++ b/User/module/shoot.hpp
@@ -5,6 +5,7 @@
#include "GO_M8010_6_Driver.h"
#include "nuc.h"
#include "usart.h"
+#include "filter.h"
// 定义状态枚举
typedef enum {
@@ -14,7 +15,10 @@ typedef enum {
SHOOT_READY,
SHOOT_WAIT,
SHOOT_FIRE, // 发射状态
- SHOOT_RETURN // 自动返回状态
+ SHOOT_RETURN, // 自动返回状态
+ //运射配合
+ GO_TOP,
+ BAKC
} ShootState_t;
// // 定义状态枚举
@@ -52,8 +56,8 @@ public:
void shoot_control(void);
void shoot_Current(void);
void RemoveError(void);
+ void ball_receive(void);
-
int GO_SendData(float pos,float limit);
//go电机
@@ -67,8 +71,7 @@ public:
float fd_tpos;
}feedback;
-
-
+
//扳机
float speed_trigger;
int16_t result;
@@ -77,13 +80,16 @@ public:
float fd_tpos; //扳机反馈位置
motor_measure_t *trigger_Motor;
+ //滤波器
+ LowPassFilter2p_t distance_filter; // 用于滤波视觉距离
+
//==========================公共变量==========================
int16_t rc_key; //遥控器按键
int16_t mode_key;
int16_t trigger_key;
ShootState_t currentState; //状态机
- //volatile BallState_t ballStatus;//是否有球
- volatile uint32_t flag_thread;//接收传回的线程通知
+
+ volatile uint32_t shoot_thread;//接收传回的线程通知
fp32 distance; //视觉距离
private:
@@ -98,6 +104,7 @@ private:
bool is_hooked;// 标记钩子是否已经钩住拉簧
+ float limit_speed;//go电机限速
};
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 7bf6427..5c2d173 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -12,6 +12,7 @@ Ball ball;
//检查光电
int abc=0;
+int aaaa=146;
extern int speedm;
@@ -20,6 +21,10 @@ void FunctionBall(void *argument)
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
+
+ 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();
while(1)
@@ -34,6 +39,8 @@ void FunctionBall(void *argument)
ball.ball_control(); // 控制球的动作
+ // 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/nucTask.cpp b/User/task/nucTask.cpp
index b5c9f44..164e291 100644
--- a/User/task/nucTask.cpp
+++ b/User/task/nucTask.cpp
@@ -23,6 +23,8 @@ void Function_nuc(void *argument)
NUC_Init(&cmd_fromnuc);
+ HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
+
uint32_t tick = osKernelGetTickCount();
while(1)
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index e62a1cf..aa16c41 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 goangle=0;
+int aaaxxx=0;
void FunctionShoot(void *argument)
{
@@ -27,20 +27,16 @@ while(1)
#endif
shoot.rc_mode(); //遥控器模式
- //我放的任务通知 运球成功放置过来后
- shoot.flag_thread=osThreadFlagsGet();
-
- if(shoot.flag_thread & BALL_DOWN)
- {
-
- }
-
+
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
{
shoot.distanceGet(nucData);
}
shoot.shoot_control();
+
+// shoot.t_posSet=aaaxxx;
+// shoot.trigger_control();
// shoot.GO_SendData(goangle,5);
// shoot.shoot_control();
// shoot.t_posSet=goangle;