diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log
index b06872f..7f2107f 100644
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@@ -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
+
diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log
index 85b4dd4..d53ce22 100644
--- a/MDK-ARM/.vscode/uv4.log
+++ b/MDK-ARM/.vscode/uv4.log
@@ -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
diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock
index c28d343..36bc0c7 100644
--- a/MDK-ARM/.vscode/uv4.log.lock
+++ b/MDK-ARM/.vscode/uv4.log.lock
@@ -1 +1 @@
-2025/7/13 17:07:34
\ No newline at end of file
+2025/7/16 22:30:59
\ No newline at end of file
diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx
index 9e387cb..2a42658 100644
--- a/MDK-ARM/R1.uvoptx
+++ b/MDK-ARM/R1.uvoptx
@@ -155,6 +155,9 @@
<<<<<<< HEAD
+<<<<<<< HEAD
+=======
+>>>>>>> 上层测试
0
@@ -169,26 +172,43 @@
2
1
+<<<<<<< HEAD
ball,0x0A
+=======
+ ball
+>>>>>>> 上层测试
3
1
+<<<<<<< HEAD
nucbuf
+=======
+ and1
+>>>>>>> 上层测试
4
1
+<<<<<<< HEAD
nuc_v
+=======
+ and1
+>>>>>>> 上层测试
5
1
+<<<<<<< HEAD
abc,0x0A
+=======
+ nucbuf
+>>>>>>> 上层测试
6
1
+<<<<<<< HEAD
shoot_wait,0x0A
@@ -198,6 +218,11 @@
=======
+>>>>>>> 上层测试
+=======
+ drop_message,0x0A
+
+
>>>>>>> 上层测试
@@ -965,7 +990,7 @@
User/device
- 0
+ 1
0
0
0
diff --git a/README.md b/README.md
index b0f5193..227e946 100644
--- a/README.md
+++ b/README.md
@@ -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)
+
\ No newline at end of file
diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h
index 9d74009..9524760 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/module/ball.cpp b/User/module/ball.cpp
index 0f2b98d..b0ff8cc 100644
--- a/User/module/ball.cpp
+++ b/User/module/ball.cpp
@@ -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()
{
diff --git a/User/module/gimbal.cpp b/User/module/gimbal.cpp
deleted file mode 100644
index 0d64aa3..0000000
--- a/User/module/gimbal.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-#include "TopDefine.h"
-#include "gimbal.hpp"
-#include "remote_control.h"
-#include "calc_lib.h"
-#include "FreeRTOS.h"
-#include
-
-#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
diff --git a/User/module/gimbal.hpp b/User/module/gimbal.hpp
deleted file mode 100644
index 5d3306f..0000000
--- a/User/module/gimbal.hpp
+++ /dev/null
@@ -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
diff --git a/User/module/shoot.cpp b/User/module/shoot.cpp
index 0246bbc..25a7c46 100644
--- a/User/module/shoot.cpp
+++ b/User/module/shoot.cpp
@@ -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)
{
diff --git a/User/task/ballTask.cpp b/User/task/ballTask.cpp
index 86a6556..0886f72 100644
--- a/User/task/ballTask.cpp
+++ b/User/task/ballTask.cpp
@@ -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);
diff --git a/User/task/gimbalTask.cpp b/User/task/gimbalTask.cpp
deleted file mode 100644
index 2b37f5c..0000000
--- a/User/task/gimbalTask.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-#include "TopDefine.h"
-#include "FreeRTOS.h"
-#include "userTask.h"
-#include
-#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);
- }
-}
-
diff --git a/User/task/gimbalTask.hpp b/User/task/gimbalTask.hpp
deleted file mode 100644
index 71998d5..0000000
--- a/User/task/gimbalTask.hpp
+++ /dev/null
@@ -1,5 +0,0 @@
-#ifndef GIMBALTASK_HPP
-#define GIMBALTASK_HPP
-
-
-#endif
diff --git a/User/task/shootTask.cpp b/User/task/shootTask.cpp
index 822dab7..b4fd579 100644
--- a/User/task/shootTask.cpp
+++ b/User/task/shootTask.cpp
@@ -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);