RoboDuoduo/R1_up
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

完结撒花

Browse Source
This commit is contained in:
ws 2025-07-16 22:32:05 +08:00
commit 4d90b38daf
14 changed files with 137 additions and 331 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -152,3 +152,15 @@
[info] Log at : 2025/7/13|16:42:25|GMT+0800
[info] Log at : 2025/7/13|22:38:15|GMT+0800
[info] Log at : 2025/7/14|07:52:29|GMT+0800
[info] Log at : 2025/7/14|12:31:22|GMT+0800
[info] Log at : 2025/7/14|13:56:03|GMT+0800
[info] Log at : 2025/7/16|22:15:00|GMT+0800
[info] Log at : 2025/7/16|22:26:06|GMT+0800

15
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,18 +1,9 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling userTask.c...
compiling remote_control.c...
compiling initTask.c...
compiling main.c...
compiling shootTask.cpp...
compiling djiMotor.c...
compiling nucTask.cpp...
compiling encodeCan.cpp...
compiling ballTask.cpp...
compiling ball.cpp...
compiling shoot.cpp...
compiling shootTask.cpp...
linking...
Program Size: Code=32032 RO-data=1832 RW-data=284 ZI-data=32268
Program Size: Code=31984 RO-data=1832 RW-data=272 ZI-data=32264
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:09
Build Time Elapsed: 00:00:05

2
MDK-ARM/.vscode/uv4.log.lock vendored
View File

@ -1 +1 @@
2025/7/13 17:07:34
2025/7/16 22:30:59

27
MDK-ARM/R1.uvoptx
View File

@ -155,6 +155,9 @@
</TargetDriverDllRegistry>
<Breakpoint/>
<<<<<<< HEAD
<<<<<<< HEAD
=======
>>>>>>> 上层测试
<WatchWindow1>
<Ww>
<count>0</count>
@ -169,26 +172,43 @@
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<<<<<<< HEAD
<ItemText>ball,0x0A</ItemText>
=======
<ItemText>ball</ItemText>
>>>>>>> 上层测试
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<<<<<<< HEAD
<ItemText>nucbuf</ItemText>
=======
<ItemText>and1</ItemText>
>>>>>>> 上层测试
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<<<<<<< HEAD
<ItemText>nuc_v</ItemText>
=======
<ItemText>and1</ItemText>
>>>>>>> 上层测试
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<<<<<<< HEAD
<ItemText>abc,0x0A</ItemText>
=======
<ItemText>nucbuf</ItemText>
>>>>>>> 上层测试
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<<<<<<< HEAD
<ItemText>shoot_wait,0x0A</ItemText>
</Ww>
<Ww>
@ -198,6 +218,11 @@
</Ww>
</WatchWindow1>
=======
>>>>>>> 上层测试
=======
<ItemText>drop_message,0x0A</ItemText>
</Ww>
</WatchWindow1>
>>>>>>> 上层测试
<MemoryWindow4>
<Mm>
@ -965,7 +990,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

59
README.md
View File

@ -5,19 +5,60 @@ r1上层
## 外设
+ CAN1
- 扳机2006 id:0x205
- 三摩擦 id:123
+ 扳机2006 id:0x201
+ CAN2
+ 小米电机 id:1
+ UART
- uart1 波特率4000000 id：2
- uart6 nuc
- uart3 遥控器接收
+ uart1 波特率4000000 id：2
+ uart6 nuc
+ uart3 遥控器接收
+ GPIO
- PI6运球光电
- PE11 运球气缸
+ PI6运球光电
+ PE13 爪气缸
+ PE14 砸气缸
## 遥控器
## 待解决
+ 用了将运球和伸缩绑定到一起 √
+ 串口收数加个滤波 √
## 思路
+ 👆 传球档 👆 配合档
+ 中 初始档 中 初始档
+ 👇 发射档 👇 运球档
+ 起步遥控档我直接蓄力准备接球 + 可多次的运球
+ 缩回转移球
+ 蓄力到位,收到掉落信号和已伸出信号
+ 根据视觉拟合信息的动态调整
+ 拨置👇发射清空掉落信号
+ 用一个攻守方档
+ 初始移动到最上面 更待蓄力(不管攻方守方都在最上面等待)
+ 攻方时拨下立马蓄力并伸出(可小角度)
+ 守方时不动并保持缩回
+ 👇 运球档正常运球
+ 中 初始档直接缩回
+ 👆 配合档 完成配合并伸出才能发射
+ 传球模式
+ 自动
+ 底盘的传球对准档拨下
+ 我的蓄力进入传球拟合
+ 继续拨下发射
+ 手动
+ 目前只能打固定距离
+ 切相同传球档 自动蓄力到传球力度
+ 发射档发射
+ 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)

2
User/bsp/TopDefine.h
View File

@ -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

41
User/module/ball.cpp
View File

@ -315,47 +315,6 @@ void Ball::ballDown(void)
}
}
// void Ball::Idle_control()
// {
// 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
// osThreadFlagsClear(EXTEND_OK);
// if (ready_key == SIDE) // 检测是否准备好
// {
// xiaomi.position = WAIT_POS;
// if (feedback->position_deg >= WAIT_POS - 3)
// {
// // 只在READY_TELL未置位时发送，防止重复
// if ((osThreadFlagsGet() & READY_TELL) == 0)
// {
// osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
// }
// }
// }
// else
// {
// xiaomi.position = I_ANGLE; // 默认回到收回位置
// }
// // 拨杆回到中间挡位时，回位并重置状态机
// if (currentState1 == EXTEND_FINISH) // 转移后
// {
// xiaomi.position = I_ANGLE;
// currentState1 = BALL_IDLE;
// }
// if (currentState1 == BALL_FINISH) // 运球完成
// {
// xiaomi.position = O_ANGLE;
// currentState1 = BALL_IDLE;
// }
// else
// {
// currentState1 = BALL_IDLE;
// }
// // xiaomi.position = I_ANGLE;
// }
void Ball::Idle_control()
{

113
User/module/gimbal.cpp
View File

@ -1,113 +0,0 @@
#include "TopDefine.h"
#include "gimbal.hpp"
#include "remote_control.h"
#include "calc_lib.h"
#include "FreeRTOS.h"
#include <cmsis_os2.h>
#define KP 0.12
#define KD 0.008
//可活动角度
#define ANGLE_ALLOW 1.0f
extern RC_ctrl_t rc_ctrl;
NUC_t nuc;
const fp32 Gimbal:: Gimbal_speed_PID[3] = {50, 0.1, 0};
const fp32 Gimbal:: Gimbal_angle_PID[3]= { 5, 0.01, 0};
#if GM6020ING ==1
Gimbal::Gimbal()
{
// GM6020_Motor = get_motor_point(6);
// GM6020_Motor->type = GM6020;
// PID_init(&speed_pid,PID_POSITION,Gimbal_speed_PID,16000, 6000);
// PID_init(&angle_pid,PID_POSITION,Gimbal_angle_PID,5000, 2000);
// result = 0;
// angleSet = 0;
}
void Gimbal::gimbalFlow()
{
int16_t delta[1];
//angleSet = angle1;
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
CAN_cmd_1FF(0,0,result,0,&hcan1);
osDelay(1);
}
void Gimbal::gimbalZero()
{
angleSet=0;
//gimbalFlow();
}
void Gimbal::gimbalVision(const NUC_t &nuc)
{
int16_t delta[1];
angleSet = nuc.vision.x;
delta[0] = PID_calc(&angle_pid,GM6020_Motor->total_angle,angleSet);
result = PID_calc(&speed_pid, GM6020_Motor->speed_rpm, delta[0]);
CAN_cmd_1FF(0,0,result,0,&hcan1);
osDelay(1);
}
#else
Gimbal::Gimbal()
{
Kp = KP;
Kd = KD;
allowRange = ANGLE_ALLOW;
}
void Gimbal::gimbalInit(void)
{
int i;
GO_M8010_init();
for(i = 0;i < GO_NUM;i ++)
{
goData[i] = getGoPoint(i);//获取电机数据指针
angleSet[i] = 0;
offestAngle[i] = 0;
GO_M8010_send_data(&huart6, i,0,0,0,0,0,0);
offestAngle[i] = goData[i]->Pos;
HAL_Delay(100);
}
}
void Gimbal::gimbalFlow(void)
{
//angleSet[0] = map_fp32((float)rc_ctrl.ch[3],-800.0f,800.0f,-allowRange,allowRange) + offestAngle[0];
GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
osDelay(1);
}
void Gimbal::gimbalZero(void)
{
GO_M8010_send_data(&huart6, 0,0,0,0,0,0,0);
}
void Gimbal::gimbalVision(const NUC_t &nuc)
{
angleSet[0] = nuc.vision.x;
GO_M8010_send_data(&huart6, 0,0,0,angleSet[0],1,KP,KD);
osDelay(1);
}
#endif

57
User/module/gimbal.hpp
View File

@ -1,57 +0,0 @@
#ifndef GIMBAL_HPP
#define GIMBAL_HPP
#include "GO_M8010_6_Driver.h"
#include "djiMotor.h"
#include "pid.h"
#include "nuc.h"
class Gimbal
{
public:
Gimbal();
void gimbalFlow(void);//云台随遥控器转动
void gimbalZero(void);//云台零阻尼模式
void gimbalInit(void);//go初始化
void gimbalVision(const NUC_t &nuc); // 接收 NUC_t 数据
int16_t result;
//暂存要发送的扭矩
//float result[GO_NUM];
// float Kp;
// float Kd;
private:
#if GM6020ING == 1
//GM6020电机数据
motor_measure_t *GM6020_Motor;
static const float Gimbal_speed_PID[3];
static const float Gimbal_angle_PID[3];
//电机速度pid结构体
pid_type_def speed_pid;
//位置环pid
pid_type_def angle_pid;
float angleSet;
#else
motor_measure_t *motorData[GO_NUM];
//视觉发送的要调的角度
float self_angleSet;
GO_Motorfield* goData[GO_NUM];
//暂存目标位置
float angleSet[GO_NUM];
float offestAngle[GO_NUM];//go数据
float Kp;
float Kd;
float allowRange;
#endif
};
#endif

65
User/module/shoot.cpp
View File

@ -39,7 +39,7 @@ const fp32 Shoot::M2006_angle_PID[3] = {15, 0.1, 0};
#define CHANEGE_POS -205
#define GO_ERROR 1.0f
#define Tigger_DO -10
#define Tigger_ZERO 115
#define Tigger_ZERO 125
#define Tigger_ERROR 3
float knob_increment;
@ -171,6 +171,9 @@ int Shoot::GO_SendData(float pos, float limit)
// sw[5] 👆 200 👇1800
// 左旋 sw[7] 200 --1800
float and1=0.0f;
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）
@ -222,23 +225,44 @@ void Shoot::rc_mode()
{
ready_key = DEFENSE;
}
//400--640为1 730--860为2 900到1200为3档中间 1300--1500为4
if(rc_ctrl.sw[7]<=300)
{
and1=0.0f;
}
if(rc_ctrl.sw[7]>=400&&rc_ctrl.sw[7]<=640)
{
and1=-2.0f;
}
if(rc_ctrl.sw[7]>=730&&rc_ctrl.sw[7]<=860)
{
and1=-1.0f;
}
if(rc_ctrl.sw[7]>=900&&rc_ctrl.sw[7]<=1200)
{
and1=0.0f;
}
if(rc_ctrl.sw[7]>=1300&&rc_ctrl.sw[7]<=1500)
{
and1=1.0f;
}
// 旋钮映射部分不变
const int knob_min = 200;
const int knob_max = 1800;
const float map_min = 130.0f;
const float map_max = -60.0f;
int current_knob_value = rc_ctrl.sw[7];
if (current_knob_value < knob_min)
current_knob_value = knob_min;
if (current_knob_value > knob_max)
current_knob_value = knob_max;
knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
// // 旋钮映射部分不变
// const int knob_min = 200;
// const int knob_max = 1800;
// const float map_min = 130.0f;
// const float map_max = -60.0f;
// int current_knob_value = rc_ctrl.sw[7];
// if (current_knob_value < knob_min)
// current_knob_value = knob_min;
// if (current_knob_value > knob_max)
// current_knob_value = knob_max;
// knob_increment = map_min + (map_max - map_min) * (current_knob_value - knob_min) / (knob_max - knob_min);
}
#if ONE_CONTROL == 0
float and1=0.0f;
void Shoot::shoot_control()
{
@ -249,8 +273,8 @@ void Shoot::shoot_control()
{
case VSION:
//fire_pos = distance; // 视觉拟合的力
fire_pos =shoot_fitting(distance)+and1;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
//fire_pos =shoot_fitting(distance)+and1;
fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
{
@ -415,8 +439,6 @@ void Shoot::RemoveError()
#if ONE_CONTROL
//float and1=-1.5f;
float and1=0;
float and2=0;
void Shoot::shoot_control()
@ -433,7 +455,7 @@ void Shoot::shoot_control()
switch (mode_key)
{
case VSION:
fire_pos = shoot_fitting(distance)+and1; // 视觉拟合的力
fire_pos = shoot_fitting(distance)+and1;
//fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
switch (rc_key)
@ -489,11 +511,10 @@ void Shoot::shoot_control()
switch (rc_key)
{
case MIDDLE1:
fire_pos = pass_fitting(pass_distance)+and2;
fire_pos = shoot_fitting(distance)+and1;
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
ball_receive(); // ball_receive内部写go1.Pos
ball_receive();
}
else if (shoot_thread & EXTEND_OK)
{
@ -618,7 +639,7 @@ void Shoot ::ball_receive()
break;
case BAKC:
control_pos = BOTTOM_POS;
limit_speed = TO_BOTTOM; // 慢速下来
limit_speed = 8.0f; // 慢速下来
if (feedback.fd_gopos >= BOTTOM_POS - 1.0f && feedback.fd_gopos <= BOTTOM_POS + 1.0f)
{

14
User/task/ballTask.cpp
View File

@ -8,11 +8,7 @@
#include "vofa.h"
extern RC_ctrl_t rc_ctrl;
Ball ball;
//float vofa[8];
//检查光电
int abc=0;
int aaaa=146;
extern int speedm;
@ -32,20 +28,10 @@ void FunctionBall(void *argument)
#ifdef DEBUG
task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId());
#endif
//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
ball.ball_control(); // 控制球的动作
// HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 确保爪气缸关闭
// HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_SET); // 确保下气缸关闭
// ball.xiaomi.position = aaaa;
// CAN_XiaoMi(1,&ball.xiaomi,&hcan2);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);

47
User/task/gimbalTask.cpp
View File

@ -1,47 +0,0 @@
#include "TopDefine.h"
#include "FreeRTOS.h"
#include "userTask.h"
#include <cmsis_os2.h>
#include "gimbalTask.hpp"
#include "gimbal.hpp"
#include "main.h"
#include "remote_control.h"
#include "nuc.h"
Gimbal gimbal;
// NUC_t nucData; // 用于存储从队列接收的数据
extern RC_ctrl_t rc_ctrl;
int cnt1=0;
void FunctionGimbal(void *argument)
{
(void)argument; /* 未使用argument，消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
uint32_t tick = osKernelGetTickCount();
while(1)
{
#ifdef DEBUG
task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());
#endif
//cnt1++;
// gimbal.gimbalFlow();
// 从消息队列接收视觉数据
// if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
// {
// // 使用接收到的视觉数据调整云台
// //gimbal.gimbalVision(nucData);
// }
osDelay(1);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);
}
}

5
User/task/gimbalTask.hpp
View File

@ -1,5 +0,0 @@
#ifndef GIMBALTASK_HPP
#define GIMBALTASK_HPP
#endif

9
User/task/shootTask.cpp
View File

@ -10,7 +10,7 @@ extern RC_ctrl_t rc_ctrl;
Shoot shoot;
NUC_t nucData; // 自瞄
int aaaxxx=0;
void FunctionShoot(void *argument)
{
@ -35,13 +35,6 @@ while(1)
shoot.shoot_control();
// shoot.t_posSet=aaaxxx;
// shoot.trigger_control();
// shoot.GO_SendData(goangle,5);
// shoot.shoot_control();
// shoot.t_posSet=goangle;
// shoot.trigger_control();
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);