From 4db4582450210464184743d2fc7285170cdfa510 Mon Sep 17 00:00:00 2001 From: ws <1621320660@qq.com> Date: Sat, 28 Jun 2025 10:27:40 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E4=BA=86=E8=BF=90=E7=90=83?= =?UTF-8?q?=E7=9A=84=E5=BB=B6=E6=97=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/.vscode/keil-assistant.log | 8 + MDK-ARM/.vscode/uv4.log | 3 +- MDK-ARM/.vscode/uv4.log.lock | 2 +- MDK-ARM/R1.uvoptx | 19 +- User/bsp/TopDefine.h | 2 +- User/module/ball.cpp | 339 ++++++++++++++--------------- 6 files changed, 172 insertions(+), 201 deletions(-) diff --git a/MDK-ARM/.vscode/keil-assistant.log b/MDK-ARM/.vscode/keil-assistant.log index 7ded289..9e0649c 100644 --- a/MDK-ARM/.vscode/keil-assistant.log +++ b/MDK-ARM/.vscode/keil-assistant.log @@ -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 + diff --git a/MDK-ARM/.vscode/uv4.log b/MDK-ARM/.vscode/uv4.log index 12c1513..7aa70a2 100644 --- a/MDK-ARM/.vscode/uv4.log +++ b/MDK-ARM/.vscode/uv4.log @@ -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 diff --git a/MDK-ARM/.vscode/uv4.log.lock b/MDK-ARM/.vscode/uv4.log.lock index 87abbbb..f0d3f72 100644 --- a/MDK-ARM/.vscode/uv4.log.lock +++ b/MDK-ARM/.vscode/uv4.log.lock @@ -1 +1 @@ -2025/6/26 22:06:06 \ No newline at end of file +2025/6/28 1:27:37 \ No newline at end of file diff --git a/MDK-ARM/R1.uvoptx b/MDK-ARM/R1.uvoptx index 87c4110..4aab291 100644 --- a/MDK-ARM/R1.uvoptx +++ b/MDK-ARM/R1.uvoptx @@ -173,22 +173,7 @@ 3 1 - ball_exit,0x0A - - - 4 - 1 - nucbuf - - - 5 - 1 - nuc_v - - - 6 - 1 - asd,0x0A + nuc_v,0x0A @@ -957,7 +942,7 @@ User/device - 1 + 0 0 0 0 diff --git a/User/bsp/TopDefine.h b/User/bsp/TopDefine.h index 261faac..61c243d 100644 --- a/User/bsp/TopDefine.h +++ b/User/bsp/TopDefine.h @@ -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 diff --git a/User/module/ball.cpp b/User/module/ball.cpp index 91b5c00..dfc72c6 100644 --- a/User/module/ball.cpp +++ b/User/module/ball.cpp @@ -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 -