diff --git a/MDK-ARM/.vscode/c_cpp_properties.json b/MDK-ARM/.vscode/c_cpp_properties.json
index 851fd02..0568449 100644
--- a/MDK-ARM/.vscode/c_cpp_properties.json
+++ b/MDK-ARM/.vscode/c_cpp_properties.json
@@ -3,26 +3,26 @@
{
"name": "R1",
"includePath": [
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Inc",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\User\\bsp",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\User\\module",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\User\\task",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\User\\lib",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\User\\device",
+ "d:\\Desktop\\运球赛\\R1_up\\Core\\Inc",
+ "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
+ "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
+ "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
+ "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
+ "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
+ "d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
+ "d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
+ "d:\\Desktop\\运球赛\\R1_up\\User\\bsp",
+ "d:\\Desktop\\运球赛\\R1_up\\User\\module",
+ "d:\\Desktop\\运球赛\\R1_up\\User\\task",
+ "d:\\Desktop\\运球赛\\R1_up\\User\\lib",
+ "d:\\Desktop\\运球赛\\R1_up\\User\\device",
"D:\\keil\\ARM\\ARMCC\\include",
"D:\\keil\\ARM\\ARMCC\\include\\rw",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\MDK-ARM",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Src",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
- "d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
+ "d:\\Desktop\\运球赛\\R1_up\\MDK-ARM",
+ "d:\\Desktop\\运球赛\\R1_up\\Core\\Src",
+ "d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
+ "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
+ "d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
],
"defines": [
"USE_HAL_DRIVER",
diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index 6af3257..7caf652 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -100,3 +100,17 @@
[info] Log at : 2025/7/2|19:49:16|GMT+0800
+[info] Log at : 2025/7/9|09:48:19|GMT+0800
+
+[info] Log at : 2025/7/9|09:49:07|GMT+0800
+
+[info] Log at : 2025/7/10|15:36:20|GMT+0800
+
+[info] Log at : 2025/7/11|18:17:38|GMT+0800
+
+[info] Log at : 2025/7/13|01:22:22|GMT+0800
+
+[info] Log at : 2025/7/13|01:27:09|GMT+0800
+
+[info] Log at : 2025/7/13|08:37:10|GMT+0800
+
diff --git a/MDK-ARM/.vscode/settings.json b/MDK-ARM/.vscode/settings.json
index e5a3724..ceea9fd 100644
--- a/MDK-ARM/.vscode/settings.json
+++ b/MDK-ARM/.vscode/settings.json
@@ -5,6 +5,7 @@
"buzzer.h": "c",
"calc_lib.h": "c",
"usertask.h": "c",
- "detect.h": "c"
+ "detect.h": "c",
+ "nuc.h": "c"
}
}
\ No newline at end of file
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 09d93f2..88343e9 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -2,7 +2,7 @@
Build target 'R1'
compiling ball.cpp...
linking...
-Program Size: Code=29032 RO-data=1832 RW-data=276 ZI-data=32252
+Program Size: Code=29156 RO-data=1832 RW-data=300 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: 00:00:04
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index b85248b..ac39558 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/2 19:50:14
\ No newline at end of file
+2025/7/13 7:05:23
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index e374b68..9321f35 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -158,47 +158,37 @@
0
1
- rc_ctrl,0x0A
+ ttttt1,0x0A
1
1
- shoot,0x0A
+ ball,0x0A
2
1
- ball,0x0A
+ nucbuf
3
1
- ball_exit,0x0A
+ runCount,0x0A
4
1
- nucbuf
+ rc_ctrl,0x0A
5
1
- nuc_v
+ runCount,0x0A
6
1
- test_exit,0x0A
-
-
- 7
- 1
- ttttt1,0x0A
-
-
- 8
- 1
- ball_exit,0x0A
+ ball_task_active,0x0A
@@ -967,7 +957,7 @@
User/device
- 0
+ 1
0
0
0
diff --git a/User/device/nuc.c b/User/device/nuc.c
index 3ec8726..82176ad 100644
--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@@ -4,25 +4,38 @@
static osThreadId_t thread_alert;
-uint8_t nucbuf[32];
+volatile uint32_t drop_message = 0;
+
+uint8_t nucbuf[6];
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);
+}
+uint32_t error_code;
+static void NUC_ERRORCALLBACK(void)
+{
+ NUC_Restart();
+ 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);
-
- return DEVICE_OK;
+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;
}
int8_t NUC_StartReceiving(void) {
- if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
+ if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
(uint8_t *)nucbuf,
sizeof(nucbuf)) == HAL_OK)
return DEVICE_OK;
@@ -37,7 +50,7 @@ int8_t NUC_Restart(void) {
bool_t NUC_WaitDmaCplt(void) {
- return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
+ return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
SIGNAL_NUC_RAW_REDY);
}
@@ -68,7 +81,63 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
return DEVICE_OK; // 发送成功
}
-int wzcsb=0;
+
+// 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 {
@@ -80,47 +149,26 @@ 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
- 0x09
- 控制帧
- 0x01 相机帧
- x fp32
- y fp32
- z 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[5] != TAIL) goto error;
+
+ instance.data[3] = nucbuf[4];
+ instance.data[2] = nucbuf[3];
+ instance.data[1] = nucbuf[2];
+ instance.data[0] = nucbuf[1];
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];
+ // 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:
- wzcsb++;
+ drop_message++;
return DEVICE_ERR;
}
@@ -198,3 +246,4 @@ int8_t NUC_HandleOffline(NUC_t *cmd)
memset(cmd, 0, sizeof(*cmd));
return 0;
}
+
diff --git a/User/device/nuc.h b/User/device/nuc.h
index 6c8ff79..02a0bac 100644
--- a/User/device/nuc.h
+++ b/User/device/nuc.h
@@ -8,6 +8,7 @@ extern "C" {
#include "struct_typedef.h"
#include "device.h"
#include "uart_it.h"
+#include "main.h"
// 帧头针尾
#define HEAD (0xFF)
@@ -15,7 +16,7 @@ extern "C" {
#define ODOM (0x04)
#define PICK (0x06)
-#define VISION (0x09)
+#define VISION (0x07)
#define SEND (0X07)
// 写结构体存入视觉信息
diff --git a/User/module/ball.cpp b/User/module/ball.cpp
index 9797eb7..818ddfe 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -6,6 +6,7 @@
#include "user_math.h"
#include "shoot.hpp"
+NUC_t nuc_d;
#define HANGDING_TWO 0 // 是否使用两次运球
@@ -14,11 +15,14 @@ extern int ball_exit;
// 伸缩
-//外死点132 外130 中119.12 内92 限位90
+//外死点89 外85 中75 内49 限位46
-#define I_ANGLE 92
-#define O_ANGLE 130
-#define WAIT_POS 119
+#define I_ANGLE 49
+#define O_ANGLE 85
+#define WAIT_POS 75
+#define HANGDING_POS 89
+
+uint8_t stop_flag[3] = {0XFF,0X01,0XFE};
// PE11 气缸
@@ -31,7 +35,7 @@ Ball ::Ball()
// 小米电机初始化
xiaomi.position = I_ANGLE; //
- xiaomi.speed = 25; //
+ xiaomi.speed = 40; //
xiaomi.K_P = 80; // 位置增益
xiaomi.K_D = 20; // 位置阻尼
xiaomi.K_C = 12; // 力矩
@@ -108,6 +112,8 @@ void Ball::ballDown(void)
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
}
+
+
void Ball::Move_Extend()
{
if (extern_key == IN)
@@ -116,56 +122,65 @@ void Ball::Move_Extend()
}
if (extern_key == OUT)
{
- xiaomi.position = O_ANGLE;
+ xiaomi.position = HANGDING_POS;
+
}
}
-int runCount = 0; // 运球次数计数
-int last_ball_state = 0; // 上一次的光电状态
-int step = 0; // 0:持球 1:击球 2:反弹 3:完全离开
+int runCount = 0;
+int last_ball_state = 0;
+int step = 0;
+int ball_task_active = 0;
+int last_data = 0; // 新增
+
+void Ball::data_get(const NUC_t &nuc_d)
+{
+ data = nuc_d.vision.x;
+ // 只在data从0变为非0时激活流程（上升沿触发）
+ if (data != 0 && last_data == 0 && ball_task_active == 0) {
+ ball_task_active = 1;
+ runCount = 0; // 只在收到新指令时清零
+ currentState1 = BALL_FORWARD;
+ }
+ last_data = data;
+}
#if HANGDING_TWO == 0
void Ball::ball_control()
{
- ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 0，无球 1)
- Move_Extend();
+ ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+
+ if (ball_task_active == 0) {
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+ currentState1 = BALL_IDLE;
+ return;
+ }
switch (currentState1)
{
- case BALL_IDLE:
- 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
- if (rc_key == DOWN2) // 检测按键是否被按下
- {
- currentState1 = BALL_FORWARD;
- }
- break;
-
case BALL_FORWARD:
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
+ osDelay(500);
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
osDelay(5);
- HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 打开下气缸
- currentState1 = BALL_DROP; // 切换到球下落状态
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);
+ currentState1 = BALL_DROP;
break;
case BALL_DROP:
- osDelay(100); // 延时 100ms
- HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 关闭下气缸
- // 一直检测有球（ball_state == 0），等球离开
- if (ball_state == 1 && last_ball_state == 0) // 球离开
- {
+ osDelay(100);
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+ if (ball_state == 1 && last_ball_state == 0) {
currentState1 = BALL_FLAG;
}
last_ball_state = ball_state;
break;
case BALL_FLAG:
- osDelay(10); // 延时 50ms
- // 等待球弹回再次检测到球
- if (ball_state == 0 && last_ball_state == 1) // 球弹回
- {
+ osDelay(10);
+ if (ball_state == 0 && last_ball_state == 1) {
currentState1 = BALL_CLOSE;
}
last_ball_state = ball_state;
@@ -173,26 +188,124 @@ void Ball::ball_control()
case BALL_CLOSE:
osDelay(100);
- HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET); // 闭合气缸爪子
- currentState1 = BALL_FINISH; // 切换到反转状态
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+ currentState1 = BALL_FINISH;
break;
case BALL_FINISH:
- osDelay(50); // 延时 50ms
- 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
-
- currentState1 = BALL_IDLE; // 回到空闲状态
-
+ HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+ runCount++;
+ if (runCount < 2) {
+ currentState1 = BALL_FORWARD;
+ } else {
+ // 运完两次，流程结束
+ ball_task_active = 0;
+ data = 0;
+ HAL_UART_Transmit(&huart6, stop_flag, 3, 10);
+ osDelay(500);
+ // runCount 不要在这里清零
+ currentState1 = BALL_IDLE;
+ }
break;
+
default:
- currentState1 = BALL_IDLE; // 默认回到空闲状态
+ currentState1 = BALL_IDLE;
break;
}
-
- Send_control();
}
+// int runCount = 0; // 运球次数计数
+// int last_ball_state = 0; // 上一次的光电状态
+// int step = 0; // 0:持球 1:击球 2:反弹 3:完全离开
+// int ball_task_active = 0; // 运球流程激活标志
+// int ifyun=0;
+
+// void Ball::data_get(const NUC_t &nuc_d)
+// {
+// data = nuc_d.vision.x;
+// // 收到上位机新指令且未在运球流程中，激活流程
+// if (data !=0 && ball_task_active == 0) {
+// ball_task_active = 1;
+// runCount = 0;
+// ifyun=0;
+// currentState1 = BALL_FORWARD;
+// }
+// }
+
+// #if HANGDING_TWO == 0
+
+// void Ball::ball_control()
+// {
+// ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
+
+// if (ball_task_active == 0) {
+// // 未激活流程，保持空闲
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+// currentState1 = BALL_IDLE;
+// return;
+// }
+// if(ifyun==0){
+// switch (currentState1)
+// {
+// case BALL_FORWARD:
+// osDelay(100);
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
+// osDelay(5);
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET);
+// currentState1 = BALL_DROP;
+// break;
+
+// case BALL_DROP:
+// osDelay(100);
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+// if (ball_state == 1 && last_ball_state == 0) {
+// currentState1 = BALL_FLAG;
+// }
+// last_ball_state = ball_state;
+// break;
+
+// case BALL_FLAG:
+// osDelay(10);
+// if (ball_state == 0 && last_ball_state == 1) {
+// currentState1 = BALL_CLOSE;
+// }
+// last_ball_state = ball_state;
+// break;
+
+// case BALL_CLOSE:
+// osDelay(100);
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+// currentState1 = BALL_FINISH;
+// break;
+
+// case BALL_FINISH:
+// //osDelay(200);
+// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_RESET);
+// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
+// runCount++;
+// if (runCount < 2) {
+// currentState1 = BALL_FORWARD;
+
+// } else {
+// // 运完两次，流程结束
+// ball_task_active = 0;
+// data = 0;
+// // 通过串口发送stop_flag数组给上位机，通知停止
+// HAL_UART_Transmit(&huart6, stop_flag, 3, 10);
+// ifyun=1;
+// currentState1 = BALL_IDLE;
+// }
+// break;
+
+// default:
+// currentState1 = BALL_IDLE;
+// break;
+// }
+
+// }
+// }
#else
void Ball::ball_control()
diff --git a/User/module/ball.hpp b/User/module/ball.hpp
index 02b77a1..7ee999c 100644
--- a/User/module/ball.hpp
+++ b/User/module/ball.hpp
@@ -10,7 +10,7 @@
#include "pid.h"
#include "filter.h"
#include "calc_lib.h"
-
+#include "nuc.h"
// 定义状态枚举
@@ -61,10 +61,12 @@ public:
void Hadling(void);
void Close(void);
void test_up(void);
+ void data_get(const NUC_t &nuc_d);
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
+ float data;
//小米电机伸缩
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 954d407..4614746 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -6,12 +6,14 @@
#include "ball.hpp"
#include "remote_control.h"
#include "vofa.h"
+#include "nuc.h"
extern RC_ctrl_t rc_ctrl;
Ball ball;
+NUC_t Data;
//检查光电
int abc=0;
-
+//3 👆1800 中1000 👇200
extern int speedm;
void FunctionBall(void *argument)
@@ -34,9 +36,19 @@ void FunctionBall(void *argument)
abc=HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin);
ball.rc_mode(); // 遥控器模式
-
- ball.ball_control(); // 控制球的动作
+
+ if (osMessageQueueGet(task_struct.msgq.nuc, &Data, NULL, 0) == osOK)
+ {
+ ball.data_get(Data);
+ }
+
+ ball.Move_Extend();
+ ball.ball_control(); // 控制球的动作
+
+ ball.Send_control();
+
+
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index e9f2dc1..42bb8bc 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -28,10 +28,10 @@ while(1)
shoot.rc_mode(); //遥控器模式
- if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
- {
- shoot.distanceGet(nucData);
- }
+ // if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
+ // {
+ // shoot.distanceGet(nucData);
+ // }
// shoot.shoot_control();