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调整了运球的延时

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ws 2025-06-28 10:27:40 +08:00
parent 4fb6b424a1
commit 4db4582450
6 changed files with 172 additions and 201 deletions
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8
MDK-ARM/.vscode/keil-assistant.log vendored
View File

@ -74,3 +74,11 @@
[info] Log at : 2025/6/25|19:23:57|GMT+0800
[info] Log at : 2025/6/27|11:41:11|GMT+0800
[info] Log at : 2025/6/27|15:32:00|GMT+0800
[info] Log at : 2025/6/27|18:43:18|GMT+0800
[info] Log at : 2025/6/28|01:19:54|GMT+0800

3
MDK-ARM/.vscode/uv4.log vendored
View File

@ -1,9 +1,8 @@
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
Build target 'R1'
compiling ball.cpp...
compiling shoot.cpp...
linking...
Program Size: Code=31632 RO-data=1832 RW-data=268 ZI-data=32252
Program Size: Code=31188 RO-data=1832 RW-data=268 ZI-data=32252
FromELF: creating hex file...
"R1\R1.axf" - 0 Error(s), 0 Warning(s).
Build Time Elapsed: 00:00:06

2
MDK-ARM/.vscode/uv4.log.lock vendored
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@ -1 +1 @@
2025/6/26 22:06:06
2025/6/28 1:27:37

19
MDK-ARM/R1.uvoptx
View File

@ -173,22 +173,7 @@
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>ball_exit,0x0A</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>nucbuf</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>nuc_v</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>asd,0x0A</ItemText>
<ItemText>nuc_v,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
@ -957,7 +942,7 @@
<Group>
<GroupName>User/device</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

2
User/bsp/TopDefine.h
View File

@ -16,7 +16,7 @@
#endif
#define ONE_CONTROL 1
#define ONE_CONTROL 0
//是否使用大疆DT7遥控器
#ifndef DT7

339
User/module/ball.cpp
View File

@ -9,105 +9,101 @@
extern RC_ctrl_t rc_ctrl;
extern int ball_exit;
//伸缩
// 伸缩
#define I_ANGLE 147
#define O_ANGLE 187
#define WAIT_POS 170
//PE11 气缸
// PE11 气缸
Ball ::Ball()
{
detect_init();
{
detect_init();
//小米电机
feedback=get_CyberGear_point();
// 小米电机
feedback = get_CyberGear_point();
//小米电机初始化
xiaomi.position = I_ANGLE; //
xiaomi.speed = 25; //
xiaomi.K_P = 80; // 位置增益
xiaomi.K_D =20; // 位置阻尼
xiaomi.K_C = 12 ; // 力矩
xiaomi.Pmax =1; //好像没啥用
// 小米电机初始化
xiaomi.position = I_ANGLE; //
xiaomi.speed = 25; //
xiaomi.K_P = 80; // 位置增益
xiaomi.K_D = 50; // 位置阻尼
xiaomi.K_C = 12; // 力矩
xiaomi.Pmax = 1; // 好像没啥用
// //小米电机初始化
// xiaomi.position = 0; //
// xiaomi.speed = 0; //
// xiaomi.K_P = 0; //
// xiaomi.K_D =0; //
// xiaomi.K_C = 0 ;
// xiaomi.position = 0; //
// xiaomi.speed = 0; //
// xiaomi.K_P = 0; //
// xiaomi.K_D =0; //
// xiaomi.K_C = 0 ;
// xiaomi.Pmax =0;
//状态机状态初始化
currentState1= BALL_IDLE;
// 状态机状态初始化
currentState1 = BALL_IDLE;
}
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// E键 sw[1] 👆 200 shoot 中 1000 stop sw[2]👇1800
// G键 sw[6]👆 200 中 1000 👇1800
// sw[5] 👆 200 👇1800
//左旋 sw[7] 200 --1800
// 左旋 sw[7] 200 --1800
void Ball::rc_mode()
{
if(rc_ctrl.sw[6]==200)
if (rc_ctrl.sw[6] == 200)
{
rc_key=UP2;
rc_key = UP2;
}
if(rc_ctrl.sw[6]==1000)
if (rc_ctrl.sw[6] == 1000)
{
rc_key=MIDDLE2;
rc_key = MIDDLE2;
}
if(rc_ctrl.sw[6]==1800)
if (rc_ctrl.sw[6] == 1800)
{
rc_key=DOWN2;
rc_key = DOWN2;
}
if(rc_ctrl.sw[5]==200)
if (rc_ctrl.sw[5] == 200)
{
extern_key=IN;
extern_key = IN;
}
if(rc_ctrl.sw[5]==1800)
if (rc_ctrl.sw[5] == 1800)
{
extern_key=OUT;
extern_key = OUT;
}
if(rc_ctrl.sw[5]==1800)
if (rc_ctrl.sw[5] == 1800)
{
ready_key=SIDE;
ready_key = SIDE;
}
if(rc_ctrl.sw[5]==200)
if (rc_ctrl.sw[5] == 200)
{
ready_key=0; //默认不准备
ready_key = 0; // 默认不准备
}
}
void Ball::Send_control()
{
CAN_XiaoMi(1,&xiaomi,&hcan2);
osDelay(1);
CAN_XiaoMi(1, &xiaomi, &hcan2);
osDelay(1);
}
#if ONE_CONTROL==0
#if ONE_CONTROL == 0
void Ball::ballDown(void)
{
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET); // 打开气缸爪子
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)
if (extern_key == IN)
{
xiaomi.position = I_ANGLE;
}
if(extern_key==OUT)
if (extern_key == OUT)
{
xiaomi.position = O_ANGLE;
}
@ -119,64 +115,60 @@ void Ball::ball_control()
Move_Extend();
switch (rc_key){
case MIDDLE2:
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
switch (rc_key)
{
case MIDDLE2:
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 (currentState1 == BALL_FINISH)
{
currentState1 = BALL_IDLE;
}
else {
currentState1 = BALL_IDLE; // 默认回到空闲状态
else
{
currentState1 = BALL_IDLE; // 默认回到空闲状态
}
break;
case UP2:
case UP2:
ballDown();
break;
case DOWN2:
case DOWN2:
ballHadling();
//test_Handling();
break;
}
Send_control();
Send_control();
}
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
void Ball::ballHadling(void)
{
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
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;
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(5);
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
currentState1 = BALL_DROP; // 切换到球下落状态
break;
case BALL_DROP:
osDelay(100); // 延时 100ms
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
@ -186,7 +178,7 @@ void Ball::ballHadling(void)
last_ball_state = ball_state;
break;
case BALL_FLAG:
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
@ -197,18 +189,17 @@ void Ball::ballHadling(void)
break;
case BALL_CLOSE:
osDelay(25);
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
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
break;
case BALL_FINISH:
osDelay(50); // 延时 50ms
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
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
// currentState1 = BALL_IDLE; // 回到空闲状态
break;
@ -216,11 +207,7 @@ void Ball::ballHadling(void)
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
}
#endif
@ -228,101 +215,99 @@ void Ball::ballHadling(void)
void Ball::ball_control()
{
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
hand_thread = osThreadFlagsGet(); // 获取任务通知标志位
ball_state = HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin); // 读取光电状态(有球 1，无球 0)
//进攻
if(ready_key==SIDE)
// 进攻
if (ready_key == SIDE)
{
switch (rc_key){
switch (rc_key)
{
case MIDDLE2:
Idle_control();
break;
Idle_control();
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
break;
case UP2:
ballDown();
break;
case DOWN2:
ballHadling();
break;
}
}
}
//防守
// 防守
else
{
xiaomi.position = I_ANGLE; // 保持收回
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
xiaomi.position = I_ANGLE; // 保持收回
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
}
// 发送小米电机控制数据
Send_control();
// 发送小米电机控制数据
Send_control();
}
//任务通知来作全过程
// 任务通知来作全过程
void Ball::ballDown(void)
{
switch(currentState1)
switch (currentState1)
{
case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回
if(feedback->position_deg >= I_ANGLE-0.8 && feedback->position_deg <= I_ANGLE+0.8)
{
currentState1 = EXTEND_DOWN;
}
break;
case BALL_IDLE:
xiaomi.position = I_ANGLE; // 保持收回
if (feedback->position_deg >= I_ANGLE - 0.8 && feedback->position_deg <= I_ANGLE + 0.8)
{
currentState1 = EXTEND_DOWN;
}
break;
case EXTEND_DOWN:
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
// 检测到球自由下落一次就切换状态
if(ball_state == 1)
{
currentState1 = EXTEND_OUT;
}
break;
case EXTEND_DOWN:
osDelay(500); // 不放太快
HAL_GPIO_WritePin(CLOSE_GPIO_Port, CLOSE_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET);
// 检测到球自由下落一次就切换状态
if (ball_state == 1)
{
currentState1 = EXTEND_OUT;
}
break;
case EXTEND_OUT:
xiaomi.position = O_ANGLE; // 保持伸出
if(feedback->position_deg >= O_ANGLE-0.2 && feedback->position_deg <= O_ANGLE+0.2)
{
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
}
break;
case EXTEND_OUT:
xiaomi.position = O_ANGLE; // 保持伸出
if (feedback->position_deg >= O_ANGLE - 0.2 && feedback->position_deg <= O_ANGLE + 0.2)
{
case EXTEND_FINISH:
xiaomi.position = O_ANGLE; // 一直保持伸出
// 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
break;
osThreadFlagsSet(task_struct.thread.shoot, EXTEND_OK);
currentState1 = EXTEND_FINISH; // 保持伸出，直到拨杆复位
}
break;
default:
currentState1 = BALL_IDLE;
break;
case EXTEND_FINISH:
xiaomi.position = O_ANGLE; // 一直保持伸出
// 等待拨杆复位（如切到MIDDLE2），Idle_control会负责回位
break;
default:
currentState1 = BALL_IDLE;
break;
}
}
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
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
if (ready_key == SIDE) // 检测是否准备好
{
xiaomi.position = WAIT_POS;
if(feedback->position_deg >= WAIT_POS-3)
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)
if ((osThreadFlagsGet() & READY_TELL) == 0)
{
osThreadFlagsSet(task_struct.thread.shoot, READY_TELL);
}
@ -332,55 +317,53 @@ void Ball::Idle_control()
{
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
if (currentState1 == EXTEND_FINISH) // 转移后
{
xiaomi.position = I_ANGLE;
currentState1 = BALL_IDLE;
xiaomi.position = I_ANGLE;
currentState1 = BALL_IDLE;
}
if(currentState1==BALL_FINISH)//运球完成
if (currentState1 == BALL_FINISH) // 运球完成
{
xiaomi.position = O_ANGLE;
currentState1 = BALL_IDLE;
xiaomi.position = O_ANGLE;
currentState1 = BALL_IDLE;
}
else
{
currentState1 = BALL_IDLE;
currentState1 = BALL_IDLE;
}
//xiaomi.position = I_ANGLE;
// xiaomi.position = I_ANGLE;
}
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
int ball_state = 0;
int last_ball_state = 0; // 上一次的光电状态
void Ball::ballHadling(void)
{
switch (currentState1)
{
case BALL_IDLE:
if (rc_key == DOWN2)
{
xiaomi.position = O_ANGLE;//外伸
if(feedback->position_deg>= O_ANGLE-1)// 确保伸缩电机到位
{
xiaomi.position = O_ANGLE; // 外伸
if (feedback->position_deg >= O_ANGLE - 1) // 确保伸缩电机到位
{
currentState1 = BALL_FORWARD;
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(5);
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
currentState1 = BALL_DROP; // 切换到球下落状态
break;
case BALL_DROP:
osDelay(100); // 延时 100ms
case BALL_DROP:
osDelay(100); //不要动这里
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
@ -390,7 +373,7 @@ void Ball::ballHadling(void)
last_ball_state = ball_state;
break;
case BALL_FLAG:
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
@ -402,26 +385,22 @@ void Ball::ballHadling(void)
case BALL_CLOSE:
osDelay(25);
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
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
break;
case BALL_FINISH:
osDelay(50); // 延时 50ms
//osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
// osThreadFlagsSet(task_struct.thread.ball, HANDING_FINISH);
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
HAL_GPIO_WritePin(DOWN_GPIO_Port, DOWN_Pin, GPIO_PIN_RESET); // 确保下气缸关闭
break;
default:
currentState1 = BALL_IDLE; // 默认回到空闲状态
break;
}
}
}
#endif