加了点保护

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 */

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
+

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

MDK-ARM/.vscode/uv4.log.lock

@@ -1 +1 @@
-2025/6/28 1:27:37
+2025/6/30 14:27:15

MDK-ARM/R1.uvoptx

@@ -158,22 +158,42 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rc_ctrl,0x0A</ItemText>
+          <ItemText>shoot,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot,0x0A</ItemText>
+          <ItemText>nucData,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ball,0x0A</ItemText>
+          <ItemText>nucbuf</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>nuc_v,0x0A</ItemText>
+          <ItemText>wzcsb,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>nuc_v</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>abc,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot_wait,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>error_code</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -942,7 +962,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1034,7 +1054,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1066,7 +1086,7 @@
 
   <Group>
     <GroupName>User/task</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

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)
+  

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

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)) {
+// int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
-  if (callback == NULL) return BSP_ERR_NULL;
+//   if (callback == NULL) return BSP_ERR_NULL;
 
-  for (uint8_t i = 0; i < 16; i++) {
+//   for (uint8_t i = 0; i < 16; i++) {
-    if (pin & (1 << i)) {
+//     if (pin & (1 << i)) {
-      GPIO_Callback[i] = callback;
+//       GPIO_Callback[i] = callback;
-      break;
+//       break;
-    }
+//     }
-  }
+//   }
-  return BSP_OK;
+//   return BSP_OK;
-}
+// }
 
-int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
+// int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
-  switch (pin) {
+//   switch (pin) {
 
-    // case USER_KEY_Pin:
+//     case KEY_Pin:
-    //   HAL_NVIC_EnableIRQ(USER_KEY_EXTI_IRQn);
+//       HAL_NVIC_EnableIRQ(KEY_Pin);
-    //   break;
+//       break;
 
-      /*
+//       /*
-      case XXX_Pin:
+//       case XXX_Pin:
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
-              break;
+//               break;
-      */
+//       */
 
-    default:
+//     default:
-      return BSP_ERR;
+//       return BSP_ERR;
-  }
+//   }
-  return BSP_OK;
+//   return BSP_OK;
-}
+// }
 
-int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
+// int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
-  switch (pin) {
+//   switch (pin) {
 
-    // case USER_KEY_Pin:
+//     case KEY_Pin:
-    //   HAL_NVIC_DisableIRQ(USER_KEY_EXTI_IRQn);
+//       HAL_NVIC_DisableIRQ(KEY_IRQn);
-    //   break;
+//       break;
 
-      /*
+//       /*
-      case XXX_Pin:
+//       case XXX_Pin:
-              HAL_NVIC_EnableIRQ(XXX_IRQn);
+//               HAL_NVIC_EnableIRQ(XXX_IRQn);
-              break;
+//               break;
-      */
+//       */
 
-    default:
+//     default:
-      return BSP_ERR;
+//       return BSP_ERR;
-  }
+//   }
-  return BSP_OK;
+//   return BSP_OK;
-}
+// }
 

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(KEY_Pin, detect_exit);
-    BSP_GPIO_RegisterCallback(BALL_Pin, detect_ball);
+    // 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
-    }  
     
 }

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) {	
+static void NUC_CBLTCallback(void)
-	osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
+{
-
+  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){
+int8_t NUC_Init(NUC_t *nuc)
-    if(nuc == NULL) return DEVICE_ERR_NULL;
+{
-    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
+  if (nuc == NULL) 
-   BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
+    return DEVICE_ERR_NULL;
-                            NUC_IdleCallback);
+  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;
 }
+
+
+
+

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
+}
+  
 

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.speed = 35;         //
-    xiaomi.K_P = 80;           // 位置增益
+    xiaomi.K_P = 40;           // 位置增益
-    xiaomi.K_D = 50;           // 位置阻尼
+    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)

User/module/shoot.cpp

@@ -9,9 +9,13 @@
 #include "vofa.h"
 #include "buzzer.h"
 #include "bsp_buzzer.h"
+#include <math.h>
 
 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
+float pass_fitting(float x)
-    // distance=nuc_v.vision.x; // 获取自瞄数据
+{
+    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
+    // 旋钮映射部分不变
-    // 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);
 }
 
@@ -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
+        // 传球档
-        case TEST:
+        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 (shoot_wait == 1)
-                    if (feedback.fd_tpos >= Tigger_ZERO - 20)
                     {
-                        BSP_Buzzer_Stop();
+                        t_posSet = Tigger_ZERO;
-                        currentState = SHOOT_IDLE;
+                        if (feedback.fd_tpos >= Tigger_ZERO - 20)
-                        osThreadFlagsClear(EXTEND_OK);
+                        {
+
+                            BSP_Buzzer_Stop();
+                            currentState = SHOOT_IDLE;
+                            osThreadFlagsClear(EXTEND_OK);
+                            shoot_wait = 0;
+                        }
                     }
                 }
                 break;

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

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  
     

User/task/nucTask.cpp

@@ -6,12 +6,9 @@
 #include <cmsis_os2.h>
 #include <stdio.h>
 
-
 #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
+        // 假设你在主循环或任务里这样用
-        osMessageQueuePut(task_struct.msgq.nuc,&(cmd_fromnuc),0,0);
+        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*/

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();
 

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_SHOOT (500u)
-#define TASK_FREQ_CTRL_SHOOT (500u)
-#define TASK_FREQ_CTRL_COMMAND (500u)
-#define TASK_FREQ_MONITOR (2u)
 #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);