完结撒花

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
+

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 shootTask.cpp...
-compiling shoot.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

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

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

MDK-ARM/R1.uvoptx

@@ -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>

README.md

@@ -5,19 +5,60 @@ r1上层
 ## 外设
 
 + CAN1
-  - 扳机2006 id:0x205
+  + 扳机2006 id:0x201
-  - 三摩擦 id:123 
++ CAN2
+  + 小米电机 id:1  
 + UART
-  - uart1 波特率4000000 id：2
+  + uart1 波特率4000000 id：2
-  - uart6 nuc
+  + uart6 nuc
-  - uart3 遥控器接收
+  + uart3 遥控器接收
 + GPIO
-  - PI6运球光电 
+  + PI6运球光电
-  - PE11 运球气缸
+  + 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)
   

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/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()
 {

User/module/gimbal.cpp

@@ -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

User/module/gimbal.hpp

@@ -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

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
+    // // 旋钮映射部分不变
-    const int knob_min = 200;
+    // const int knob_min = 200;
-    const int knob_max = 1800;
+    // const int knob_max = 1800;
-    const float map_min = 130.0f;
+    // const float map_min = 130.0f;
-    const float map_max = -60.0f;
+    // const float map_max = -60.0f;
-    int current_knob_value = rc_ctrl.sw[7];
+    // int current_knob_value = rc_ctrl.sw[7];
-    if (current_knob_value < knob_min)
+    // if (current_knob_value < knob_min)
-        current_knob_value = knob_min;
+    //     current_knob_value = knob_min;
-    if (current_knob_value > knob_max)
+    // if (current_knob_value > knob_max)
-        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);
+    // 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 =shoot_fitting(distance)+and1;
-        //fire_pos = INIT_POS + knob_increment; // 根据旋钮值调整发射位置
+        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(); // ball_receive内部写go1.Pos
                 }
                 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)
         {
 

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);
     

User/task/gimbalTask.cpp

@@ -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);
-	}
-}
-

User/task/gimbalTask.hpp

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

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);