From 3db9ee683fbc9930941187840e7efb4190d68aa1 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Mon, 30 Jun 2025 14:28:32 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E4=BA=86=E7=82=B9=E4=BF=9D=E6=8A=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/gpio.c | 2 +- MDK-ARM/.vscode/keil-assistant.log | 12 ++ MDK-ARM/.vscode/uv4.log | 74 +++++++++++- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 34 ++++-- MDK-ARM/README.md | 7 ++ User/bsp/TopDefine.h | 2 +- User/bsp/gpio_it.c | 80 ++++++------- User/device/detect.c | 11 +- User/device/nuc.c | 52 ++++++-- User/lib/calc_lib.c | 6 +- User/module/ball.cpp | 9 +- User/module/shoot.cpp | 185 ++++++++++++++++++++++------- User/module/shoot.hpp | 2 + User/task/ballTask.cpp | 3 +- User/task/nucTask.cpp | 17 ++- User/task/shootTask.cpp | 2 +- User/task/userTask.h | 17 +-- 18 files changed, 368 insertions(+), 149 deletions(-) diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c index 9724fd8..2a5429f 100644 --- a/Core/Src/gpio.c +++ b/Core/Src/gpio.c @@ -64,7 +64,7 @@ void MX_GPIO_Init(void) /*Configure GPIO pin : BALL_Pin */ GPIO_InitStruct.Pin = BALL_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING; - GPIO_InitStruct.Pull = GPIO_PULLUP; + GPIO_InitStruct.Pull = GPIO_PULLDOWN; HAL_GPIO_Init(BALL_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : up_ball_Pin */ diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 9e0649c..67e4303 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -82,3 +82,15 @@ [info] Log at : 2025/6/28|01:19:54|GMT+0800 +[info] Log at : 2025/6/28|14:29:33|GMT+0800 + +[info] Log at : 2025/6/28|16:39:11|GMT+0800 + +[info] Log at : 2025/6/28|16:39:57|GMT+0800 + +[info] Log at : 2025/6/28|18:37:20|GMT+0800 + +[info] Log at : 2025/6/29|15:33:54|GMT+0800 + +[info] Log at : 2025/6/30|10:24:59|GMT+0800 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 7aa70a2..8ed7e1c 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -1,8 +1,76 @@ *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin' -Build target 'R1' +Rebuild target 'R1' +assembling startup_stm32f407xx.s... +compiling dma.c... +compiling spi.c... +compiling gpio.c... +compiling stm32f4xx_hal_msp.c... +compiling tim.c... +compiling stm32f4xx_it.c... +compiling stm32f4xx_hal_rcc.c... +compiling freertos.c... +compiling main.c... +compiling usart.c... +compiling stm32f4xx_hal_can.c... +compiling crc.c... +compiling can.c... +compiling stm32f4xx_hal_gpio.c... +compiling stm32f4xx_hal_flash_ramfunc.c... +compiling stm32f4xx_hal_flash_ex.c... +compiling stm32f4xx_hal_flash.c... +compiling stm32f4xx_hal_rcc_ex.c... +compiling stm32f4xx_hal_cortex.c... +compiling stm32f4xx_hal_pwr_ex.c... +compiling stm32f4xx_hal_dma.c... +compiling stm32f4xx_hal_crc.c... +compiling stm32f4xx_hal.c... +compiling stm32f4xx_hal_pwr.c... +compiling croutine.c... +compiling stm32f4xx_hal_exti.c... +compiling event_groups.c... +compiling list.c... +compiling stm32f4xx_hal_dma_ex.c... +compiling queue.c... +compiling stream_buffer.c... +compiling timers.c... +compiling tasks.c... +compiling heap_4.c... +compiling system_stm32f4xx.c... +compiling port.c... +compiling stm32f4xx_hal_spi.c... +compiling stm32f4xx_hal_uart.c... +compiling stm32f4xx_hal_tim_ex.c... +compiling stm32f4xx_hal_tim.c... +compiling calc_lib.c... +compiling crc_ccitt.c... +compiling kalman.c... +compiling cmsis_os2.c... +compiling bsp_buzzer.c... +compiling bsp_delay.c... +compiling can_init.c... +compiling can_it.c... +compiling gpio_it.c... +compiling uart_it.c... +compiling filter.c... +compiling pid.c... +compiling user_math.c... +compiling buzzer.c... +compiling userTask.c... +compiling detect.c... +compiling shoot.cpp... +compiling vofa.c... +compiling remote_control.c... +compiling djiMotor.c... +compiling GO_M8010_6_Driver.c... +compiling nuc.c... compiling ball.cpp... +compiling initTask.c... +compiling ballTask.cpp... +compiling encodeCan.cpp... +compiling nucTask.cpp... +compiling shootTask.cpp... linking... -Program Size: Code=31188 RO-data=1832 RW-data=268 ZI-data=32252 +Program Size: Code=32916 RO-data=1832 RW-data=276 ZI-data=32220 FromELF: creating hex file... "R1\R1.axf" - 0 Error(s), 0 Warning(s). -Build Time Elapsed: 00:00:06 +Build Time Elapsed: 00:04:01 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index f0d3f72..4fb6d15 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/6/28 1:27:37 \ No newline at end of file +2025/6/30 14:27:15 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 4aab291..53306b8 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -158,22 +158,42 @@ 0 1 - rc_ctrl,0x0A + shoot,0x0A 1 1 - shoot,0x0A + nucData,0x0A 2 1 - ball,0x0A + nucbuf 3 1 - nuc_v,0x0A + wzcsb,0x0A + + + 4 + 1 + nuc_v + + + 5 + 1 + abc,0x0A + + + 6 + 1 + shoot_wait,0x0A + + + 7 + 1 + error_code @@ -942,7 +962,7 @@ User/device - 0 + 1 0 0 0 @@ -1034,7 +1054,7 @@ User/module - 1 + 0 0 0 0 @@ -1066,7 +1086,7 @@ User/task - 1 + 0 0 0 0 diff --git a/MDK-ARM/README.md b/MDK-ARM/README.md index d329367..227e946 100644 --- a/MDK-ARM/README.md +++ b/MDK-ARM/README.md @@ -55,3 +55,10 @@ r1上层 + 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/bsp/TopDefine.h b/User/bsp/TopDefine.h index 61c243d..261faac 100644 --- a/User/bsp/TopDefine.h +++ b/User/bsp/TopDefine.h @@ -16,7 +16,7 @@ #endif -#define ONE_CONTROL 0 +#define ONE_CONTROL 1 //是否使用大疆DT7遥控器 #ifndef DT7 diff --git a/User/bsp/gpio_it.c b/User/bsp/gpio_it.c index 9d81971..dbe0b35 100644 --- a/User/bsp/gpio_it.c +++ b/User/bsp/gpio_it.c @@ -20,53 +20,53 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { } /* Exported functions ------------------------------------------------------- */ -int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) { - if (callback == NULL) return BSP_ERR_NULL; +// int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) { +// if (callback == NULL) return BSP_ERR_NULL; - for (uint8_t i = 0; i < 16; i++) { - if (pin & (1 << i)) { - GPIO_Callback[i] = callback; - break; - } - } - return BSP_OK; -} +// for (uint8_t i = 0; i < 16; i++) { +// if (pin & (1 << i)) { +// GPIO_Callback[i] = callback; +// break; +// } +// } +// return BSP_OK; +// } -int8_t BSP_GPIO_EnableIRQ(uint16_t pin) { - switch (pin) { +// int8_t BSP_GPIO_EnableIRQ(uint16_t pin) { +// switch (pin) { - // case USER_KEY_Pin: - // HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn); - // break; +// case KEY_Pin: +// HAL_NVIC_EnableIRQ(KEY_Pin); +// break; - /* - case XXX_Pin: - HAL_NVIC_EnableIRQ(XXX_IRQn); - break; - */ +// /* +// case XXX_Pin: +// HAL_NVIC_EnableIRQ(XXX_IRQn); +// break; +// */ - default: - return BSP_ERR; - } - return BSP_OK; -} +// default: +// return BSP_ERR; +// } +// return BSP_OK; +// } -int8_t BSP_GPIO_DisableIRQ(uint16_t pin) { - switch (pin) { +// int8_t BSP_GPIO_DisableIRQ(uint16_t pin) { +// switch (pin) { - // case USER_KEY_Pin: - // HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn); - // break; +// case KEY_Pin: +// HAL_NVIC_DisableIRQ(KEY_IRQn); +// break; - /* - case XXX_Pin: - HAL_NVIC_EnableIRQ(XXX_IRQn); - break; - */ +// /* +// case XXX_Pin: +// HAL_NVIC_EnableIRQ(XXX_IRQn); +// break; +// */ - default: - return BSP_ERR; - } - return BSP_OK; -} +// default: +// return BSP_ERR; +// } +// return BSP_OK; +// } diff --git a/User/device/detect.c b/User/device/detect.c index 3c48a2b..1efaf38 100644 --- a/User/device/detect.c +++ b/User/device/detect.c @@ -24,15 +24,8 @@ void detect_ball(void) void detect_init(void) { - BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit); - BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball); + // BSP_GPIO_RegisterCallback(KEY_Pin, detect_exit); + // BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball); - // 启用按键中断 - if (BSP_GPIO_EnableIRQ(KEY_Pin) != BSP_OK) { - // 错误处理 - } - if (BSP_GPIO_EnableIRQ(BALL_Pin) != BSP_OK) { - // 错误处理 - } } diff --git a/User/device/nuc.c b/User/device/nuc.c index 3ec8726..1fbcaaa 100644 --- a/User/device/nuc.c +++ b/User/device/nuc.c @@ -4,22 +4,48 @@ static osThreadId_t thread_alert; -uint8_t nucbuf[32]; +static volatile uint32_t drop_message = 0; + +uint8_t nucbuf[16]; uint8_t packet[32]; // 假设最大数据包长度为 32 字节 -static void NUC_IdleCallback(void) { - osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); - +static void NUC_CBLTCallback(void) +{ + osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY); +} +static void NUC_ERRORCALLBACK(void) +{ + NUC_Restart(); + uint32_t error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI)); + } -int8_t NUC_Init(NUC_t *nuc){ - if(nuc == NULL) return DEVICE_ERR_NULL; - if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL; - BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB, - NUC_IdleCallback); +int8_t NUC_Init(NUC_t *nuc) +{ + if (nuc == NULL) + return DEVICE_ERR_NULL; + if ((thread_alert = osThreadGetId()) == NULL) + return DEVICE_ERR_NULL; + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, + NUC_CBLTCallback); + BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_ERROR_CB, + NUC_ERRORCALLBACK); + return DEVICE_OK; +} + +// static void NUC_IdleCallback(void) { +// osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY); + +// } + +// int8_t NUC_Init(NUC_t *nuc){ +// if(nuc == NULL) return DEVICE_ERR_NULL; +// if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL; +// BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB, +// NUC_IdleCallback); - return DEVICE_OK; -} +// return DEVICE_OK; +// } int8_t NUC_StartReceiving(void) { if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI), @@ -198,3 +224,7 @@ int8_t NUC_HandleOffline(NUC_t *cmd) memset(cmd, 0, sizeof(*cmd)); return 0; } + + + + diff --git a/User/lib/calc_lib.c b/User/lib/calc_lib.c index bcf12e8..57836ce 100644 --- a/User/lib/calc_lib.c +++ b/User/lib/calc_lib.c @@ -164,6 +164,8 @@ fp32 abs_limit_min_max_fp(fp32 *num, fp32 Limit_min,fp32 Limit_max) *num = Limit_min; return Limit_min; } - -} + + return *num; // 如果在范围内，直接返回原值 +} + diff --git a/User/module/ball.cpp b/User/module/ball.cpp index dfc72c6..3911d37 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -18,16 +18,14 @@ extern int ball_exit; Ball ::Ball() { - detect_init(); - // 小米电机 feedback = get_CyberGear_point(); // 小米电机初始化 xiaomi.position = I_ANGLE; // - xiaomi.speed = 25; // - xiaomi.K_P = 80; // 位置增益 - xiaomi.K_D = 50; // 位置阻尼 + xiaomi.speed = 35; // + xiaomi.K_P = 40; // 位置增益 + xiaomi.K_D = 100; // 位置阻尼 xiaomi.K_C = 12; // 力矩 xiaomi.Pmax = 1; // 好像没啥用 @@ -217,6 +215,7 @@ 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) + // 进攻 if (ready_key == SIDE) diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp index 2337095..36474ea 100644 --- a/User/module/shoot.cpp +++ b/User/module/shoot.cpp @@ -9,9 +9,13 @@ #include "vofa.h" #include "buzzer.h" #include "bsp_buzzer.h" +#include extern RC_ctrl_t rc_ctrl; NUC_t nuc_v; +float vofa[8]; + +double test_distance; // sw[7]👆 1694 中 1000 👇306 // sw[2]👆 1694 👇306 @@ -26,17 +30,18 @@ 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_BOTTOM 5.0f +#define TO_BOTTOM 6.0f #define INIT_POS -130 #define TOP_POS -211 #define BOTTOM_POS 0 #define GO_ERROR 1.0f #define Tigger_DO 0 -#define Tigger_ZERO 100 +#define Tigger_ZERO 120 #define Tigger_ERROR 3 float knob_increment; +double last_distance = 4.0f; // 4米做测试吧 Shoot::Shoot() { @@ -77,11 +82,26 @@ void Shoot::trigger_control() CAN_cmd_200(result, 0, 0, 0, &hcan1); } -void Shoot ::distanceGet(const NUC_t &nuc_v) +float shoot_fitting(float x) { + return 0.2006334f * x * x + 25.788123f * x + -169.32157 + 3.8f; +} - 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 +float pass_fitting(float x) +{ + return 1.1790172f * x * x + 15.983755f * x + -172.04664f + 1.6f; +} + +void Shoot::distanceGet(const NUC_t &nuc_v) +{ + // 判断数据是否在合理范围 + if (nuc_v.vision.x >= 0.0f && nuc_v.vision.x <= 7.5f) + { + last_distance = LowPassFilter2p_Apply(&distance_filter, nuc_v.vision.x); + } + + // 否则不更新，保持上一次的值 + distance = last_distance; } int Shoot::GO_SendData(float pos, float limit) @@ -128,8 +148,95 @@ int Shoot::GO_SendData(float pos, float limit) // B键 sw[3]👆 200 开 中 1000 👇1800 关 // sw[5] 👆 200 👇1800 // 左旋 sw[7] 200 --1800 +// void Shoot::rc_mode() +// { +// if (rc_ctrl.sw[1] == 200) +// { +// rc_key = UP1; +// } +// if (rc_ctrl.sw[1] == 1800 && rc_ctrl.sw[2] == 200) +// { +// rc_key = MIDDLE1; +// } +// if (rc_ctrl.sw[2] == 1800 && rc_ctrl.sw[1] == 1800) +// { +// rc_key = DOWN1; +// } +// if (rc_ctrl.sw[0] == 1800) +// { +// mode_key = PASS; +// } +// if (rc_ctrl.sw[0] == 200) +// { +// mode_key = VSION; +// } +// // if(rc_ctrl.sw[5]==200) +// // { +// // mode_key=OUT; +// // } +// if (rc_ctrl.sw[5] == 1800) +// { +// ready_key = OFFENSIVE; +// } +// else if (rc_ctrl.sw[5] == 200) +// { +// ready_key = DEFENSE; +// } + +// // //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 +// // } + +// // 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); +// } + void Shoot::rc_mode() { + // 底部光电检测（假设0为到位，1为未到位，根据实际硬件调整） + int bottom_sensor = HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位 + static bool is_ready = false; + + // 只要检测到到位就解除保护 + if (!is_ready) + { + if (bottom_sensor == 0) + { + is_ready = true; + + // 可选：蜂鸣器提示“归零成功” + } + else + { + // 未到位，所有按键无效，直接返回 + return; + } + } + + // 以下为原有遥控按键逻辑 if (rc_ctrl.sw[1] == 200) { rc_key = UP1; @@ -144,16 +251,12 @@ void Shoot::rc_mode() } if (rc_ctrl.sw[0] == 1800) { - mode_key = TEST; + mode_key = PASS; } if (rc_ctrl.sw[0] == 200) { mode_key = VSION; } - // if(rc_ctrl.sw[5]==200) - // { - // mode_key=OUT; - // } if (rc_ctrl.sw[5] == 1800) { ready_key = OFFENSIVE; @@ -163,34 +266,16 @@ void Shoot::rc_mode() ready_key = DEFENSE; } - // //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 - // } - - // 旋钮物理范围 + // 旋钮映射部分不变 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); } @@ -206,6 +291,7 @@ void Shoot::shoot_control() { case VSION: fire_pos = distance; // 视觉拟合的力 + // fire_pos =shoot_fitting(test_distance); switch (rc_key) { case DOWN1: @@ -243,7 +329,7 @@ void Shoot::shoot_control() break; } break; - case TEST: + 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 @@ -369,8 +455,7 @@ void Shoot::RemoveError() #if ONE_CONTROL -int asd = 0; - +int shoot_wait = 0; void Shoot::shoot_control() { @@ -385,7 +470,7 @@ void Shoot::shoot_control() switch (mode_key) { case VSION: - fire_pos = distance; // 视觉拟合的力 + fire_pos = shoot_fitting(distance); // 视觉拟合的力 switch (rc_key) { case MIDDLE1: @@ -400,22 +485,25 @@ void Shoot::shoot_control() limit_speed = TO_BOTTOM; 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, 5000); + BSP_Buzzer_Set(1, 500); } } break; case DOWN1: - if (shoot_thread & EXTEND_OK) + if (shoot_thread & EXTEND_OK && shoot_wait == 1) { t_posSet = Tigger_ZERO; if (feedback.fd_tpos >= Tigger_ZERO - 20) { + BSP_Buzzer_Stop(); currentState = SHOOT_IDLE; osThreadFlagsClear(EXTEND_OK); + shoot_wait = 0; } } break; @@ -430,11 +518,12 @@ void Shoot::shoot_control() break; - // 无自瞄拟合测试档 - case TEST: + // 传球档 + case PASS: switch (rc_key) { case MIDDLE1: + fire_pos = pass_fitting(distance); 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 @@ -443,27 +532,33 @@ void Shoot::shoot_control() else if (shoot_thread & EXTEND_OK) { // 只收到EXTEND_OK时，允许调节蓄力位置 - fire_pos = INIT_POS + knob_increment; + // fire_pos = INIT_POS + knob_increment; go1.Pos = fire_pos; limit_speed = TO_BOTTOM; 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, 5000); + BSP_Buzzer_Set(1, 500); } } // 没收到READY_TELL不做任何蓄力 break; case DOWN1: - if (shoot_thread & EXTEND_OK) + if (shoot_thread & EXTEND_OK ) { - t_posSet = Tigger_ZERO; - if (feedback.fd_tpos >= Tigger_ZERO - 20) + if (shoot_wait == 1) { - BSP_Buzzer_Stop(); - currentState = SHOOT_IDLE; - osThreadFlagsClear(EXTEND_OK); + t_posSet = Tigger_ZERO; + if (feedback.fd_tpos >= Tigger_ZERO - 20) + { + + BSP_Buzzer_Stop(); + currentState = SHOOT_IDLE; + osThreadFlagsClear(EXTEND_OK); + shoot_wait = 0; + } } } break; diff --git a/User/module/shoot.hpp b/User/module/shoot.hpp index db6aaa5..a008caf 100644 --- a/User/module/shoot.hpp +++ b/User/module/shoot.hpp @@ -41,8 +41,10 @@ typedef enum WAIT, TEST, VSION, + PASS, OFFENSIVE, DEFENSE + }rc_mode; // 光电传感器读取宏 diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp index 92c8bdd..168d0c1 100644 --- a/User/task/ballTask.cpp +++ b/User/task/ballTask.cpp @@ -33,7 +33,8 @@ 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); + abc=HAL_GPIO_ReadPin(BALL_GPIO_Port, BALL_Pin); // 0为到位 ball.rc_mode(); // 遥控器模式 diff --git a/User/task/nucTask.cpp b/User/task/nucTask.cpp index 164e291..f622aaf 100644 --- a/User/task/nucTask.cpp +++ b/User/task/nucTask.cpp @@ -6,12 +6,9 @@ #include #include - #ifdef DEBUG NUC_t cmd_fromnuc; -//int send[3]={1,2,3}; -float send[3]={1,2,3}; #endif @@ -34,7 +31,7 @@ void Function_nuc(void *argument) #endif NUC_StartReceiving(); - NUC_RawParse(&cmd_fromnuc); + //NUC_RawParse(&cmd_fromnuc); //NUC_SendPacket(&send, sizeof(send)); // 发送数据包 //掉线处理有空写 // if(NUC_WaitDmaCplt()) @@ -47,8 +44,16 @@ void Function_nuc(void *argument) // NUC_HandleOffline(&cmd_fromnuc); // } - osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列 - osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0); + // 假设你在主循环或任务里这样用 + if (NUC_RawParse(&cmd_fromnuc) == DEVICE_OK) + { + osMessageQueueReset(task_struct.msgq.nuc); // 清空消息队列 + osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0); + } + else + { + NUC_HandleOffline(&cmd_fromnuc); + } osDelay(2); tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/ diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp index 414729e..822dab7 100644 --- a/User/task/shootTask.cpp +++ b/User/task/shootTask.cpp @@ -16,7 +16,7 @@ void FunctionShoot(void *argument) { (void)argument; /* 未使用argument，消除警告 */ - const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT; + const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_SHOOT; osDelay(3000);//等待M2006电机启动 uint32_t tick = osKernelGetTickCount(); diff --git a/User/task/userTask.h b/User/task/userTask.h index 56a839d..89353a7 100644 --- a/User/task/userTask.h +++ b/User/task/userTask.h @@ -13,10 +13,7 @@ extern "C" { /* Exported constants ------------------------------------------------------- */ /* 所有任务都要define一个“任务运行频率”和“初始化延时” */ -#define TASK_FREQ_CTRL_GIMBAL (250u) -#define TASK_FREQ_CTRL_SHOOT (500u) -#define TASK_FREQ_CTRL_COMMAND (500u) -#define TASK_FREQ_MONITOR (2u) +#define TASK_FREQ_SHOOT (500u) #define TASK_FREQ_CAN (1500u) #define TASK_FREQ_AI (500u) #define TASK_FREQ_BALL (500u) @@ -42,8 +39,6 @@ typedef struct //osThreadId_t rc; osThreadId_t nuc; osThreadId_t shoot; - osThreadId_t gimbal; - //osThreadId_t handling; osThreadId_t ball; }thread; @@ -64,32 +59,23 @@ typedef struct #ifdef DEBUG struct { UBaseType_t can; - //UBaseType_t rc; UBaseType_t nuc; UBaseType_t shoot; - UBaseType_t gimbal; - //UBaseType_t handling; UBaseType_t ball; } stack_water_mark; /* stack使用 */ struct { float can; - //float rc; float nuc; float shoot; - float gimbal; - //float handling; float ball; } freq; /* 任务运行频率 */ struct { float can; - //float rc; float nuc; float shoot; - float gimbal; - //float handling; float ball; } last_up_time; /* 任务最近运行时 */ #endif @@ -106,7 +92,6 @@ extern const osEventFlagsAttr_t attr_event; /* Exported functions prototypes -------------------------------------------- */ -void FunctionTake(void *argument); void FunctionShoot(void *argument); void FunctionCan(void *argument); void FunctionRc(void *argument);