全自动运球
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cbbbc1a0cc
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36
MDK-ARM/.vscode/c_cpp_properties.json
vendored
36
MDK-ARM/.vscode/c_cpp_properties.json
vendored
@ -3,26 +3,26 @@
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{
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"name": "R1",
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"includePath": [
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Inc",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\bsp",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\module",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\task",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\lib",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\User\\device",
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"d:\\Desktop\\运球赛\\R1_up\\Core\\Inc",
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"d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc",
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"d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Inc\\Legacy",
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"d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\include",
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"d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\CMSIS_RTOS_V2",
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"d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\RVDS\\ARM_CM4F",
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"d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Device\\ST\\STM32F4xx\\Include",
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"d:\\Desktop\\运球赛\\R1_up\\Drivers\\CMSIS\\Include",
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"d:\\Desktop\\运球赛\\R1_up\\User\\bsp",
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"d:\\Desktop\\运球赛\\R1_up\\User\\module",
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"d:\\Desktop\\运球赛\\R1_up\\User\\task",
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"d:\\Desktop\\运球赛\\R1_up\\User\\lib",
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"d:\\Desktop\\运球赛\\R1_up\\User\\device",
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"D:\\keil\\ARM\\ARMCC\\include",
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"D:\\keil\\ARM\\ARMCC\\include\\rw",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\MDK-ARM",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Core\\Src",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
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"d:\\Desktop\\r1\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
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"d:\\Desktop\\运球赛\\R1_up\\MDK-ARM",
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"d:\\Desktop\\运球赛\\R1_up\\Core\\Src",
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"d:\\Desktop\\运球赛\\R1_up\\Drivers\\STM32F4xx_HAL_Driver\\Src",
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"d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source",
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"d:\\Desktop\\运球赛\\R1_up\\Middlewares\\Third_Party\\FreeRTOS\\Source\\portable\\MemMang"
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],
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"defines": [
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"USE_HAL_DRIVER",
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14
MDK-ARM/.vscode/keil-assistant.log
vendored
14
MDK-ARM/.vscode/keil-assistant.log
vendored
@ -100,3 +100,17 @@
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[info] Log at : 2025/7/2|19:49:16|GMT+0800
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[info] Log at : 2025/7/9|09:48:19|GMT+0800
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[info] Log at : 2025/7/9|09:49:07|GMT+0800
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[info] Log at : 2025/7/10|15:36:20|GMT+0800
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[info] Log at : 2025/7/11|18:17:38|GMT+0800
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[info] Log at : 2025/7/13|01:22:22|GMT+0800
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[info] Log at : 2025/7/13|01:27:09|GMT+0800
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[info] Log at : 2025/7/13|08:37:10|GMT+0800
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3
MDK-ARM/.vscode/settings.json
vendored
3
MDK-ARM/.vscode/settings.json
vendored
@ -5,6 +5,7 @@
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"buzzer.h": "c",
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"calc_lib.h": "c",
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"usertask.h": "c",
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"detect.h": "c"
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"detect.h": "c",
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"nuc.h": "c"
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}
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}
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4
MDK-ARM/.vscode/uv4.log
vendored
4
MDK-ARM/.vscode/uv4.log
vendored
@ -2,7 +2,7 @@
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Build target 'R1'
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compiling ball.cpp...
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linking...
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Program Size: Code=29032 RO-data=1832 RW-data=276 ZI-data=32252
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Program Size: Code=29156 RO-data=1832 RW-data=300 ZI-data=32220
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FromELF: creating hex file...
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"R1\R1.axf" - 0 Error(s), 0 Warning(s).
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Build Time Elapsed: 00:00:06
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Build Time Elapsed: 00:00:04
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2
MDK-ARM/.vscode/uv4.log.lock
vendored
2
MDK-ARM/.vscode/uv4.log.lock
vendored
@ -1 +1 @@
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2025/7/2 19:50:14
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2025/7/13 7:05:23
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@ -158,47 +158,37 @@
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>rc_ctrl,0x0A</ItemText>
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<ItemText>ttttt1,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>shoot,0x0A</ItemText>
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<ItemText>ball,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>ball,0x0A</ItemText>
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<ItemText>nucbuf</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>ball_exit,0x0A</ItemText>
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<ItemText>runCount,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>4</count>
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<WinNumber>1</WinNumber>
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<ItemText>nucbuf</ItemText>
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<ItemText>rc_ctrl,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>5</count>
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<WinNumber>1</WinNumber>
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<ItemText>nuc_v</ItemText>
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<ItemText>runCount,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>6</count>
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<WinNumber>1</WinNumber>
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<ItemText>test_exit,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>ttttt1,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>ball_exit,0x0A</ItemText>
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<ItemText>ball_task_active,0x0A</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow4>
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@ -967,7 +957,7 @@
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<Group>
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<GroupName>User/device</GroupName>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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@ -4,25 +4,38 @@
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static osThreadId_t thread_alert;
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uint8_t nucbuf[32];
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volatile uint32_t drop_message = 0;
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uint8_t nucbuf[6];
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uint8_t packet[32]; // 假设最大数据包长度为 32 字节
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static void NUC_IdleCallback(void) {
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osThreadFlagsSet(thread_alert,SIGNAL_NUC_RAW_REDY);
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static void NUC_CBLTCallback(void)
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{
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osThreadFlagsSet(thread_alert, SIGNAL_NUC_RAW_REDY);
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}
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uint32_t error_code;
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static void NUC_ERRORCALLBACK(void)
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{
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NUC_Restart();
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error_code = HAL_UART_GetError(BSP_UART_GetHandle(BSP_UART_AI));
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}
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int8_t NUC_Init(NUC_t *nuc){
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if(nuc == NULL) return DEVICE_ERR_NULL;
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if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
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BSP_UART_RegisterCallback(BSP_UART_AI,BSP_UART_IDLE_LINE_CB,
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NUC_IdleCallback);
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int8_t NUC_Init(NUC_t *nuc)
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{
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if (nuc == NULL)
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return DEVICE_ERR_NULL;
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if ((thread_alert = osThreadGetId()) == NULL)
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return DEVICE_ERR_NULL;
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
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NUC_CBLTCallback);
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_ERROR_CB,
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NUC_ERRORCALLBACK);
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return DEVICE_OK;
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}
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int8_t NUC_StartReceiving(void) {
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if (HAL_UARTEx_ReceiveToIdle_DMA(BSP_UART_GetHandle(BSP_UART_AI),
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
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(uint8_t *)nucbuf,
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sizeof(nucbuf)) == HAL_OK)
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return DEVICE_OK;
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@ -37,7 +50,7 @@ int8_t NUC_Restart(void) {
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bool_t NUC_WaitDmaCplt(void) {
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return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,500) ==
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return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
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SIGNAL_NUC_RAW_REDY);
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}
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@ -68,7 +81,63 @@ int8_t NUC_SendPacket(void *data, uint16_t length) {
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return DEVICE_OK; // 发送成功
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}
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int wzcsb=0;
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// int8_t NUC_RawParse(NUC_t *n) {
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// if (n == NULL) return DEVICE_ERR_NULL;
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// union {
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// float x[3];
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// char data[12];
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// } instance; // 方便在浮点数和字符数组之间进行数据转换
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// // 校验数据包头
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// if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
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// else
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// {
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// n->status_fromnuc = nucbuf[1];
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// n->ctrl_status = nucbuf[2];
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// switch (n->status_fromnuc) {
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// case VISION:
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// /* 协议格式
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// 0xFF HEAD
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// 0x07
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// 控制帧
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// 0x01 相机帧
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// x fp32
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// 0xFE TAIL
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// */
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// if (nucbuf[7] != TAIL) goto error;
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// instance.data[3] = nucbuf[6];
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// instance.data[2] = nucbuf[5];
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// instance.data[1] = nucbuf[4];
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// instance.data[0] = nucbuf[3];
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// n->vision.x = instance.x[0];
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// instance.data[7] = nucbuf[10];
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// instance.data[6] = nucbuf[9];
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// instance.data[5] = nucbuf[8];
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// instance.data[4] = nucbuf[7];
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// n->vision.y = instance.x[1];
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// break;
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// }
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// return DEVICE_OK;
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// }
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// error:
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// drop_message++;
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// return DEVICE_ERR;
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// }
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/* 协议格式
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0xFF HEAD
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x fp32
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y fp32
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0xFE TAIL
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*/
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int8_t NUC_RawParse(NUC_t *n) {
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if (n == NULL) return DEVICE_ERR_NULL;
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union {
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@ -80,47 +149,26 @@ int8_t NUC_RawParse(NUC_t *n) {
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if(nucbuf[0]!=HEAD) goto error; //发送ID不是底盘
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else
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{
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n->status_fromnuc = nucbuf[1];
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n->ctrl_status = nucbuf[2];
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switch (n->status_fromnuc) {
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case VISION:
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/* 协议格式
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0xFF HEAD
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0x09
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控制帧
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0x01 相机帧
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x fp32
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y fp32
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z fp32
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0xFE TAIL
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*/
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if (nucbuf[7] != TAIL) goto error;
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instance.data[3] = nucbuf[6];
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instance.data[2] = nucbuf[5];
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instance.data[1] = nucbuf[4];
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instance.data[0] = nucbuf[3];
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if (nucbuf[5] != TAIL) goto error;
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instance.data[3] = nucbuf[4];
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instance.data[2] = nucbuf[3];
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instance.data[1] = nucbuf[2];
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instance.data[0] = nucbuf[1];
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n->vision.x = instance.x[0];
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instance.data[7] = nucbuf[10];
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instance.data[6] = nucbuf[9];
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instance.data[5] = nucbuf[8];
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instance.data[4] = nucbuf[7];
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n->vision.y = instance.x[1];
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// instance.data[7] = nucbuf[16];
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// instance.data[6] = nucbuf[15];
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// instance.data[5] = nucbuf[14];
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// instance.data[4] = nucbuf[13];
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// n->vision.y = instance.x[1];
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instance.data[11] = nucbuf[11];
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instance.data[10] = nucbuf[12];
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instance.data[9] = nucbuf[13];
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instance.data[8] = nucbuf[14];
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n->vision.z = instance.x[2];
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break;
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}
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return DEVICE_OK;
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}
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error:
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wzcsb++;
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drop_message++;
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return DEVICE_ERR;
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}
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@ -198,3 +246,4 @@ int8_t NUC_HandleOffline(NUC_t *cmd)
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memset(cmd, 0, sizeof(*cmd));
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return 0;
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}
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@ -8,6 +8,7 @@ extern "C" {
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#include "struct_typedef.h"
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#include "device.h"
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#include "uart_it.h"
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#include "main.h"
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// 帧头针尾
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#define HEAD (0xFF)
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@ -15,7 +16,7 @@ extern "C" {
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#define ODOM (0x04)
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#define PICK (0x06)
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#define VISION (0x09)
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#define VISION (0x07)
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#define SEND (0X07)
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// 写结构体存入视觉信息
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@ -6,6 +6,7 @@
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#include "user_math.h"
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#include "shoot.hpp"
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NUC_t nuc_d;
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#define HANGDING_TWO 0 // 是否使用两次运球
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@ -14,11 +15,14 @@ extern int ball_exit;
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// 伸缩
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//外死点132 外130 中119.12 内92 限位90
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//外死点89 外85 中75 内49 限位46
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#define I_ANGLE 92
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#define O_ANGLE 130
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#define WAIT_POS 119
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#define I_ANGLE 49
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#define O_ANGLE 85
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#define WAIT_POS 75
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#define HANGDING_POS 89
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uint8_t stop_flag[3] = {0XFF,0X01,0XFE};
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// PE11 气缸
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@ -31,7 +35,7 @@ Ball ::Ball()
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// 小米电机初始化
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xiaomi.position = I_ANGLE; //
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xiaomi.speed = 25; //
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xiaomi.speed = 40; //
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xiaomi.K_P = 80; // 位置增益
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xiaomi.K_D = 20; // 位置阻尼
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xiaomi.K_C = 12; // 力矩
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@ -108,6 +112,8 @@ void Ball::ballDown(void)
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HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
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}
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|
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void Ball::Move_Extend()
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{
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if (extern_key == IN)
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@ -116,56 +122,65 @@ void Ball::Move_Extend()
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}
|
||||
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()
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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)
|
||||
@ -35,8 +37,18 @@ void FunctionBall(void *argument)
|
||||
|
||||
ball.rc_mode(); // 遥控器模式
|
||||
|
||||
|
||||
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);
|
||||
|
||||
|
||||
@ -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();
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user